CN109472980A - Earth magnetism wagon detector and its detection method based on NB-IoT technology - Google Patents
Earth magnetism wagon detector and its detection method based on NB-IoT technology Download PDFInfo
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- CN109472980A CN109472980A CN201811215387.7A CN201811215387A CN109472980A CN 109472980 A CN109472980 A CN 109472980A CN 201811215387 A CN201811215387 A CN 201811215387A CN 109472980 A CN109472980 A CN 109472980A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The invention discloses a kind of earth magnetism wagon detectors and its detection method based on NB-IoT technology.Earth magnetism wagon detector includes: geomagnetism detecting module: the disturbance using vehicle when parking to Geomagnetic signal detects the vehicle on parking stall in place；Radio frequency Radar Detection module: transmitting radiofrequency signal is simultaneously mixed with its reflection echo, by detecting to the signal after mixing, is detected in place to the vehicle on parking stall；MCU control module: processing geomagnetism detecting module and the collected data of radio frequency Radar Detection module carry out vehicle and stop, determine from business, and by NB-IoT module, carry out data interaction with remote back-office server；NB-IoT data communication module: utilizing operator NB-IoT network, and earth magnetism car test terminal and remote server is made to carry out data interaction.The present invention is detected for parking space state, is carried out intelligent measurement to vehicle parking space state, can be fully achieved the parking position monitoring in unmanned parking lot.
Description
Technical field
The present invention relates to a kind of earth magnetism wagon detectors and its detection method based on NB-IoT technology, stop suitable for all kinds of
The intellectualized detection of the parking stall in parking lot and information sharing, belong to field of intelligent transportation technology.
Background technique
Generally existing following " five the is difficult " problem in current traditional parking lot, first is that " parking lot is difficult ": with the guarantor of automobile
The amount of having sustainable growth, parking lot also increase, but bring another question is exactly, car owner can not know it is specific where
There are also free parking spaces in parking lot.Second is that " parking stall is difficult ": in a huge parking lot, finding a slight free time
Parking stall, largely waste the plenty of time of car owner.Third is that " difficult charge ": the mode of the manual toll collection row of will lead to forever
The problems such as long queue, card taking, payment, while phenomena such as some parking lay-by administrators arbitrary imposition of fees, is generally existing.Largely
Waste a large amount of time and money.Fourth is that " Maintenance Difficulty ": traditional large parking lot often employs many pilots to carry out
When parking vehicle guidance, firstly there are it is inefficient the problems such as, secondly also need payment pilot's valuableness the salary guerdon.Greatly
The extra expenses for having aggravated parking lot, reduce its operating income.Fifth is that " data are difficult ": government department is improving parking energetically
While the problem of hardly possible, however the parking data amount in each parking lot but can not be obtained and be acquired in real time.Thus allow municipal administration
Traffic data collection lack strong support.
Thus, for traditional parking lot problems faced, intelligently magnetic vehicle detector can solve these completely
Problem, for " parking difficulty ": earth magnetism wagon detector can obtain itself locating parking location in real time, and platform is reported to work as
Preceding parking space state, car owner need to can only understand periphery parking position free message under user platform.For " parking stall is difficult ":
In the parking lot for being mounted with earth magnetism wagon detector, car owner can know the idle parking stall position in current parking lot under user platform
It postpones, One-key navigation need to only be gone on platform.More traditional parking lot eliminates a large amount of time.For " difficult charge ":
It is mounted in the parking lot of earth magnetism wagon detector, down time is by earth magnetism wagon detector self-clocking.Avoid artificial institute
Caused error and unnecessary dispute, payment also need to only achieve that a key is paid on platform.For " Maintenance Difficulty ": earth magnetism
Wagon detector only needs once mounting, during which Maintenance free, and service life reaches as high as 5 years.Parking lot is without outside amount paid
Expense carries out the guidance of parking stall and the additional maintenance of equipment.For " data are difficult ": since earth magnetism wagon detector detects in real time
The dead ship condition of current parking stall is reported, thus for departments of government, it is only necessary to log in platform, so that it may obtain in real time
Relevant vehicle flowrate data are taken, municipal traffic data collection is allowed to obtain strong support.Thus generally speaking, ground magnetic vehicle
Detector may be implemented unmanned intelligent parking solution completely, and generally existing many of effective solution current social ask
Topic.A large amount of data supporting is provided by Internet of Things simultaneously.The matter as a fire singeing one's eyebrows that can currently stop urgently to be resolved with effective solution is difficult
Topic.
But traditionally magnetic vehicle detector needs to redeploy local area network and relaying, can just transfer data to backstage and take
Business device, and traditional earth magnetism vehicle checker power consumption is larger, can not continue a journey for a long time；Also, hardware and software can not Collaborative Control, increase
The artificial participation of equipment operation, maintenance, there are False Rates it is higher, easy to damage, installation is difficult, Maintenance Difficulty the problems such as, not only
The accuracy of detection is lower, and reduces the service life of equipment.
Summary of the invention
It is an object of the invention to overcome the above problem of the existing technology, a kind of ground based on NB-IoT technology is provided
Magnetic vehicle detector and its detection method.The present invention is detected for parking space state, is participated in vehicle parking space state without artificial
In the case where carry out intelligent measurement, be not necessarily to manual maintenance, the parking position monitoring in unmanned parking lot can be fully achieved.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of earth magnetism wagon detector based on NB-IoT technology, it is characterised in that: examined including geomagnetism detecting module, radio frequency radar
Module, MCU control module, NB-IoT communication module and power management module are surveyed,
Geomagnetism detecting module: the disturbance using vehicle when parking to Geomagnetic signal detects the vehicle on parking stall in place；
Radio frequency Radar Detection module: transmitting radiofrequency signal simultaneously be mixed with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
MCU control module: the processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, carries out data interaction with remote back-office server；
NB-IoT data communication module: operator NB-IoT network is utilized, counts earth magnetism car test terminal with remote server
According to interaction；
Power supply of the whole machine management module: being respectively MCU control module, geomagnetism detecting module and the power supply of radio frequency Radar Detection module.
The geomagnetism detecting module: use grace intelligence Pu MAG3110 chip, MCU control module by iic bus with
MAG3110 chip is connected, and MAG3110 chip acquires the data of tri- axis of Geomagnetic signal X, Y, Z, when parking stall is not stopped, MCU control
Molding block collects the geomagnetic data of earth magnetic field free space；When parking stall parking, since ferromagnetic object can cause earth magnetism
The distortion of field, MAG3110 chip passes through the variation of detection Geomagnetic signal, and being converted to is digital signal, is sent into MCU control module
Calculation processing is carried out, to carry out the judgement of dead ship condition.
The radio frequency Radar Detection module: radio frequency Radar Detection module is using Infineon BGT24LTR11 chip as radio frequency
Front end works in 24.0 GHz to 24.25 GHz ISM bands, and MCU control module generates the triangular wave of 100KHz, is sent into
The voltage-controlled end of the voltage controlled oscillator VCO of BGT24LTR11, generation centre frequency are 24GHz, and the frequency tune through triangular modulation
Signal processed, and launched by the transmitting unit of radio frequency Radar Detection module, the receiving unit pair of radio frequency Radar Detection module
Transmitting signal and reflection echo signal are mixed, frequency difference signal I, Q of output transmitting signal and reflection echo signal；I, Q believes
After number being amplified, be filtered, the AD thief hatch for being sent into MCU control module carries out the acquisition of data；MCU control module by pair
The acquisition and calculating of frequency difference signal obtain the distance between target and radio frequency Radar Detection module information, realize parking stall parking feelings
The detection of condition.
The MCU control module: STMicw Electronics STM32L031K6T6 chip, the iic bus of MCU control module are used
It being connect with MAG3110 chip, timing acquiring geomagnetic data, the A D interface of MCU control module is connected with radio frequency Radar Detection module,
The serial ports of the difference frequency data of timing acquiring radio frequency radar, MCU control module is connected with NB-IoT communication module, after realizing and being long-range
The data interaction of platform server.
The NB-IoT data communication module: using NB-IoT module, using operator wireless communication network, realizes car test
Data interaction between terminal and remote back-office server, NB-IoT data communication module use COAP agreement, are connected to operator
IOT platform；MCU control module is attached by serial ports and NB-IoT communication module, after detecting parking or sailing out of business,
MCU control module carries out framing according to the agreement between remote back-office server, and sends NB- for the data message organized
IoT data communication module, to be sent to remote back-office server；NB-IoT data communication module receives remote back-office service
The feedback message notifying MCU control module of device, so that MCU control module realizes complete machine control.
The power supply of the whole machine management module: being powered using 15000mAh battery, using TPS76333 voltage regulator chip, is generated
3.3V voltage is MCU control module, geomagnetism detecting module and the power supply of radio frequency Radar Detection module.
The STM32L031K6T6 chip, in complete machine suspend mode, all I/O ports are set as simulation model, and clock source is changed to
MSI, dominant frequency drop to 65.5KHz；It is configured to SLEEP mode simultaneously, electric current 3uA when making suspend mode.
The switching on and shutting down pin of the NB-IoT data communication module is connected with the I/O port of MCU, when MCU control module enters
It before suspend mode, is controlled by I/O port, closes NB-IoT data communication module, be in NB-IoT data communication module and close suspend mode shape
State.
When the MAG3110 chip works normally, it is 1.25Hz that MCU control module, which configures sample rate ODR, and over-sampling rate is
2, operating current 68.8uA, when complete machine suspend mode, over-sampling rate is configured to 8, quiescent current 8.6uA.
Before the MCU control module suspend mode, power supply of the whole machine management module closes radio frequency Radar Detection module by metal-oxide-semiconductor
Power supply completely cuts through the power supply of radio frequency radar.
A kind of detection method of the earth magnetism wagon detector based on NB-IoT technology characterized by comprising
A, disturbance of the geomagnetism detecting module using vehicle when parking to Geomagnetic signal, detects the vehicle on parking stall in place；
B, radio frequency Radar Detection module transmitting and is mixed radiofrequency signal with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
C, the MCU control module processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, using operator's NB-IoT network, carries out data interaction with remote back-office server.
The a is specifically included:
The collected three axis earth magnetism of the N number of geomagnetism detecting module of a1, MCU control module timing acquiring quantifies geomagnetic data, and to original
Beginning data carry out Kalman filtering, eliminate the random error of sampled data；
A2, in initial installation, the Geomagnetic signal of infield is tested automatically, to obtain the earth magnetism letter under quasi- free space
Number benchmark baseline B0；
A3, MCU control module continuously analyze geomagnetic data collected, and steady-state analysis engine carries out stable state calculating, if continuously adopting
The N number of geomagnetic data no data jump collected, then determine that current data is in stable state, otherwise, then be judged to jumping state；Work as data
Into when jumping state, the geomagnetic data mean value of previous stable state is calculated automatically, the baseline value B1 as previous stable state；
A4, after steady-state analysis engine detects data jump, start to search for next data stable state, when next data stable state reach
When, then calculate geomagnetic data mean value B2 at this time；
A5, earth magnetism business judgement engine are sentenced according to the absolute value of the difference of the mean value B1 of previous stable state and the mean value B2 of this stable state
Vehicle whether occurs calmly to stop, from business；It is sailed out of for vehicle, while need to determine B0 when whether mean value B2 returns free space；
A6, after vehicle sails out of, MCU control module continue calculate free space benchmark baseline B0, with adaptively signal magnetic field
Slowly varying situation.
The b is specifically included:
M b1, MCU control module timing acquiring MCU control module using radio frequency radar emission under AD acquisition free space and are returned
The I after mixed of wave, Q signal data, and bandpass filtering is carried out to initial data, eliminate the interference letter being mingled in sampled data
Number；
B2, in initial installation, open radio frequency Radar Detection module, and calculate initial wave crest quantity A1 and trough quantity A2；
B3, radio frequency radar is opened in MCU control module, and after acquiring M data point, calculating wave crest quantity C1 and trough quantity
C2；
B4, according to C1 and A1 difference and C2 and A2 difference, judge whether there is stoppage of vehicle on parking stall；When there is vehicle on parking stall,
The enhancing of the rf echo signal due to caused by vehicle, I when leading to I at this time, Q signal and not stopping, that waveform occurs for Q signal is abnormal
Become, and generate more wave crests and trough, determines parking stall Parking situation；
B5, after vehicle sails out of, MCU control module continue calculate free space wave crest quantity A1 and trough quantity A2, with from
Adapt to the slowly varying situation of radio frequency radar return caused by environmental factor.
The method also includes vehicles to stop from secondary judgement, specific as follows:
(1) when MCU control module progress vehicle stops from determining, MCU control module only opens geomagnetism detecting in routine testing
Module, radio frequency Radar Detection module are in close state；
(2) when MCU control module by geomagnetism detecting go out vehicle stop, from business after, open radio frequency Radar Detection module, by penetrating
Frequency detections of radar carries out vehicle and stops, calculates from business；
(3) according to geomagnetism detecting and radio frequency detections of radar calculated result, final business judgement is carried out, if adjudicating successfully, really
Recognize this business, and utilize NB-IoT communication module, sends traffic to remote back-office server；
(4) stop to vehicle, for geomagnetism detecting from business, radio frequency detections of radar is not detected or testing result is examined with earth magnetism
Survey result it is inconsistent when, calculate the B2-B1 of the geomagnetic data of this business and C1-A1, C2-A2 of radio frequency radar data first
Absolute value, and the numeric format of calculated result is turned into ASCII word string, then K data in fingerprint base are adjudicated with secondary verification
Levenshtein distance is calculated, to realize that fuzzy query matches；If failing to find matched data, then it is assumed that this business is different
Often, this is not generated to stop, from business；If fuzzy query successful match, that extracts that occurrence stored stops, from type of service,
As this secondary verification court verdict.
In the step (3), successful business is adjudicated for secondary verification, calculates the geomagnetic data of this business first
The absolute value of C1-A1, C2-A2 of B2-B1 and radio frequency radar data, then the numeric format of calculated result is turned into ASCII word string,
By word string and this stopping, from type of service of determining, it is stored in secondary verification and adjudicates fingerprint base, can record altogether in fingerprint base
The finger print data that newest K success is adjudicated.
Using the present invention has the advantages that
1, complete machine is powered using 15000mAh heavy-duty battery, and battery capacity is big, and replacement is not had to during being used continuously 5 years,
Once mounting is realized, manual maintenance is not had to during operation.
2, using super low-power consumption MCU, MEMS sensor, and by software design, when parking business is not detected, at complete machine
In Low-power-consumptiodormancy dormancy state, dormancy power consumption is less than 30uA, greatly enhances the cruising ability of complete machine.
3, overcome the problems, such as that the single geomagnetism detecting of tradition is unreliable, using the secondary calibration technology of radio frequency radar, improve vehicle and stop
From the accuracy that business determines, so that determining that accuracy is greater than 99%.
4, pass through the efficient collaborative work of multiple computing engines built in earth magnetism car test algorithm and radio frequency radar car test algorithm
Using Time-Domain algorithm, the complicated calculations of conventional frequency domain FFT are avoided, under the premise of guaranteeing that business determines accuracy, effectively
Reduce the calculating time needed for business determines, to considerably reduce the power consumption of MCU at work, increases the continuous of complete machine
Boat ability.
5, using newest NB-IoT technical network as data transmission channel, carrier network is directly utilized, without rebuilding
Remote transmission network.Meanwhile the low power consumption characteristic of NB-IoT module is made full use of, in data transmission, business is reduced energetically
Power consumption when status remote transmits.
6, machine shell uses external mounting box, equipment inner box designing two portions, that is, facilitates field device installation, equipment dimension
Shield also ensures IP68 waterproofing grade, and has anti-corrosion property, while can prevent vehicle rolling apparatus from causing equipment damaged.
Detailed description of the invention
Fig. 1 is hardware block diagram of the present invention.
Specific embodiment
Embodiment 1
A kind of earth magnetism wagon detector based on NB-IoT technology, including geomagnetism detecting module, radio frequency Radar Detection module, MCU
Control module, NB-IoT communication module and power management module,
Geomagnetism detecting module: the disturbance using vehicle when parking to Geomagnetic signal detects the vehicle on parking stall in place；
Radio frequency Radar Detection module: transmitting radiofrequency signal simultaneously be mixed with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
MCU control module: the processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, carries out data interaction with remote back-office server；
NB-IoT data communication module: operator NB-IoT network is utilized, counts earth magnetism car test terminal with remote server
According to interaction；
Power supply of the whole machine management module: being respectively MCU control module, geomagnetism detecting module and the power supply of radio frequency Radar Detection module.
The geomagnetism detecting module: use grace intelligence Pu MAG3110 chip, MCU control module by iic bus with
MAG3110 chip is connected, and MAG3110 chip acquires the data of tri- axis of Geomagnetic signal X, Y, Z, when parking stall is not stopped, MCU control
Molding block collects the geomagnetic data of earth magnetic field free space；When parking stall parking, since ferromagnetic object can cause earth magnetism
The distortion of field, MAG3110 chip passes through the variation of detection Geomagnetic signal, and being converted to is digital signal, is sent into MCU control module
Calculation processing is carried out, to carry out the judgement of dead ship condition.
The radio frequency Radar Detection module: radio frequency Radar Detection module is using Infineon BGT24LTR11 chip as radio frequency
Front end works in 24.0 GHz to 24.25 GHz ISM bands, and MCU control module generates the triangular wave of 100KHz, is sent into
The voltage-controlled end of the voltage controlled oscillator VCO of BGT24LTR11, generation centre frequency are 24GHz, and the frequency tune through triangular modulation
Signal processed, and launched by the transmitting unit of radio frequency Radar Detection module, the receiving unit pair of radio frequency Radar Detection module
Transmitting signal and reflection echo signal are mixed, frequency difference signal I, Q of output transmitting signal and reflection echo signal；I, Q believes
After number being amplified, be filtered, the AD thief hatch for being sent into MCU control module carries out the acquisition of data；MCU control module by pair
The acquisition and calculating of frequency difference signal obtain the distance between target and radio frequency Radar Detection module information, realize parking stall parking feelings
The detection of condition.
The MCU control module: STMicw Electronics STM32L031K6T6 chip, the iic bus of MCU control module are used
It being connect with MAG3110 chip, timing acquiring geomagnetic data, the A D interface of MCU control module is connected with radio frequency Radar Detection module,
The serial ports of the difference frequency data of timing acquiring radio frequency radar, MCU control module is connected with NB-IoT communication module, after realizing and being long-range
The data interaction of platform server.
The NB-IoT data communication module: using NB-IoT module, using operator wireless communication network, realizes car test
Data interaction between terminal and remote back-office server, NB-IoT data communication module use COAP agreement, are connected to operator
IOT platform；MCU control module is attached by serial ports and NB-IoT communication module, after detecting parking or sailing out of business,
MCU control module carries out framing according to the agreement between remote back-office server, and sends NB- for the data message organized
IoT data communication module, to be sent to remote back-office server；NB-IoT data communication module receives remote back-office service
The feedback message notifying MCU control module of device, so that MCU control module realizes complete machine control.
The power supply of the whole machine management module: being powered using 15000mAh battery, using TPS76333 voltage regulator chip, is generated
3.3V voltage is MCU control module, geomagnetism detecting module and the power supply of radio frequency Radar Detection module.
The STM32L031K6T6 chip, in complete machine suspend mode, all I/O ports are set as simulation model, and clock source is changed to
MSI, dominant frequency drop to 65.5KHz；It is configured to SLEEP mode simultaneously, electric current 3uA when making suspend mode.
The switching on and shutting down pin of the NB-IoT data communication module is connected with the I/O port of MCU, when MCU control module enters
It before suspend mode, is controlled by I/O port, closes NB-IoT data communication module, be in NB-IoT data communication module and close suspend mode shape
State.
When the MAG3110 chip works normally, it is 1.25Hz that MCU control module, which configures sample rate ODR, and over-sampling rate is
2, operating current 68.8uA, when complete machine suspend mode, over-sampling rate is configured to 8, quiescent current 8.6uA.
Before the MCU control module suspend mode, power supply of the whole machine management module closes radio frequency Radar Detection module by metal-oxide-semiconductor
Power supply completely cuts through the power supply of radio frequency radar.
A kind of detection method of the earth magnetism wagon detector based on NB-IoT technology, comprising:
A, disturbance of the geomagnetism detecting module using vehicle when parking to Geomagnetic signal, detects the vehicle on parking stall in place；
B, radio frequency Radar Detection module transmitting and is mixed radiofrequency signal with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
C, the MCU control module processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, using operator's NB-IoT network, carries out data interaction with remote back-office server.
The a is specifically included:
The collected three axis earth magnetism of the N number of geomagnetism detecting module of a1, MCU control module timing acquiring quantifies geomagnetic data, and to original
Beginning data carry out Kalman filtering, eliminate the random error of sampled data；
A2, in initial installation, the Geomagnetic signal of infield is tested automatically, to obtain the earth magnetism letter under quasi- free space
Number benchmark baseline B0；
A3, MCU control module continuously analyze geomagnetic data collected, and steady-state analysis engine carries out stable state calculating, if continuously adopting
The N number of geomagnetic data no data jump collected, then determine that current data is in stable state, otherwise, then be judged to jumping state；Work as data
Into when jumping state, the geomagnetic data mean value of previous stable state is calculated automatically, the baseline value B1 as previous stable state；
A4, after steady-state analysis engine detects data jump, start to search for next data stable state, when next data stable state reach
When, then calculate geomagnetic data mean value B2 at this time；
A5, earth magnetism business judgement engine are sentenced according to the absolute value of the difference of the mean value B1 of previous stable state and the mean value B2 of this stable state
Vehicle whether occurs calmly to stop, from business；It is sailed out of for vehicle, while need to determine B0 when whether mean value B2 returns free space；
A6, after vehicle sails out of, MCU control module continue calculate free space benchmark baseline B0, with adaptively signal magnetic field
Slowly varying situation.
The b is specifically included:
M b1, MCU control module timing acquiring MCU control module using radio frequency radar emission under AD acquisition free space and are returned
The I after mixed of wave, Q signal data, and bandpass filtering is carried out to initial data, eliminate the interference letter being mingled in sampled data
Number；
B2, in initial installation, open radio frequency Radar Detection module, and calculate initial wave crest quantity A1 and trough quantity A2；
B3, radio frequency radar is opened in MCU control module, and after acquiring M data point, calculating wave crest quantity C1 and trough quantity
C2；
B4, according to C1 and A1 difference and C2 and A2 difference, judge whether there is stoppage of vehicle on parking stall；When there is vehicle on parking stall,
The enhancing of the rf echo signal due to caused by vehicle, I when leading to I at this time, Q signal and not stopping, that waveform occurs for Q signal is abnormal
Become, and generate more wave crests and trough, determines parking stall Parking situation；
B5, after vehicle sails out of, MCU control module continue calculate free space wave crest quantity A1 and trough quantity A2, with from
Adapt to the slowly varying situation of radio frequency radar return caused by environmental factor.
The method also includes vehicles to stop from secondary judgement, specific as follows:
(1) when MCU control module progress vehicle stops from determining, MCU control module only opens geomagnetism detecting in routine testing
Module, radio frequency Radar Detection module are in close state；
(2) when MCU control module by geomagnetism detecting go out vehicle stop, from business after, open radio frequency Radar Detection module, by penetrating
Frequency detections of radar carries out vehicle and stops, calculates from business；
(3) according to geomagnetism detecting and radio frequency detections of radar calculated result, final business judgement is carried out, if adjudicating successfully, really
Recognize this business, and utilize NB-IoT communication module, sends traffic to remote back-office server；
(4) stop to vehicle, for geomagnetism detecting from business, radio frequency detections of radar is not detected or testing result is examined with earth magnetism
Survey result it is inconsistent when, calculate the B2-B1 of the geomagnetic data of this business and C1-A1, C2-A2 of radio frequency radar data first
Absolute value, and the numeric format of calculated result is turned into ASCII word string, then K data in fingerprint base are adjudicated with secondary verification
Levenshtein distance is calculated, to realize that fuzzy query matches；If failing to find matched data, then it is assumed that this business is different
Often, this is not generated to stop, from business；If fuzzy query successful match, that extracts that occurrence stored stops, from type of service,
As this secondary verification court verdict.
In the step (3), successful business is adjudicated for secondary verification, calculates the geomagnetic data of this business first
The absolute value of C1-A1, C2-A2 of B2-B1 and radio frequency radar data, then the numeric format of calculated result is turned into ASCII word string,
By word string and this stopping, from type of service of determining, it is stored in secondary verification and adjudicates fingerprint base, can record altogether in fingerprint base
The finger print data that newest K success is adjudicated.
Embodiment 2
Detected for parking space state, devise the earth magnetism wagon detector based on NB-IoT network, using geomagnetism detecting module and
Radio frequency radar module carries out intelligent measurement without artificial participate in vehicle parking space state.It is not necessarily to after equipment installation
Artificial maintenance, service life up to 5 years, can fully achieve the parking position monitoring in unmanned parking lot.Therefore, the present invention has low
Cost, universality, low-power consumption, intelligence, real-time, high reliability, it is easy to maintain the features such as.
The present invention is described in further details below:
Casing part: being designed using IP68 professional grade, be mainly made of external mounting box, equipment inner box two parts, is had anti-
The features such as water, moisture-proof, isolation internal circuit, anti-weight rolls.
Geomagnetism detecting module: being based on MEMS technology, by the continuous acquisition to the Geomagnetic signal on parking stall, calculating, utilizes
Disturbance of the vehicle to Geomagnetic signal when parking realizes that the vehicle on parking stall detects in place.
Radio frequency Radar Detection module: FMCW technology, the radio frequency of launching centre carrier frequency 24GHz frequency, triangular modulation are based on
Signal, and be mixed with its reflection echo, by detecting to the signal after mixing, realize that the vehicle on parking stall is examined in place
It surveys.
MCU control module: using 32 single-chip microprocessor MCUs of low-power consumption, handles geomagnetism detecting module and radio frequency radar module is adopted
The data collected carry out vehicle and stop, determine from business, and by NB-IoT module, carry out data friendship with remote back-office server
Mutually.
NB-IoT data communication module: utilizing operator NB-IoT network, realizes earth magnetism car test terminal and remote server
Between data interaction.
Power supply of the whole machine management module: complete machine uses 1 3.7V, and the power supply of 15000mAh heavy-duty battery is depressured core by LDO
Cell voltage is depressured by 3.7V as 3.3V, is supplied respectively to MCU module, earth magnetism module by piece, and radio frequency radar module uses.Meanwhile
Using metal-oxide-semiconductor control technology, realizes the electric power starting to radio frequency radar module, closes management.
The casing part: it is mainly made of external mounting box, equipment inner box two parts.External mounting box is installed on ground
Under hole in, upper surface is flushed with ground, can disposably install multiple equipment at project installation initial stage；Electricity is placed in equipment inner box
Pond and entire terminal device, by screw thread rotation mode, rotation is installed into external mounting box.It is designed using inside and outside shell, was both facilitated
Equipment being put into and taking out, and is also convenient for the maintenance of equipment and the replacement of battery, while having ensured that complete machine has IP68 waterproofing grade
And the characteristics such as anticorrosion；Soft packing ring is contained in external mounting box bottom, has resistance to compression buffer function, effectively prevents vehicle stone roller
Pressure equipment causes the situation of equipment breakage to occur.
The geomagnetism detecting module: being based on MEMS technology, and the data of Geomagnetic signal are carried out using grace intelligence Pu MAG3110 chip
Acquisition, the chip are a small-sized low-power consumption, low noise, high-resolution, digital 3 axis magnetometers.MCU control module passes through
Iic bus is connected with MAG3110 chip, realizes and acquires to the data of tri- axis of Geomagnetic signal X, Y, Z, can measure up to 10 Gausses
Position magnetic field, output data rate (ODR) is up to 80Hz.When parking stall is not stopped, MCU collects earth magnetic field freedom
The geomagnetic data in space；When parking stall parking, since ferromagnetic object can cause the distortion in earth's magnetic field, MEMS high sensitivity sensing
Device passes through the variation of detection Geomagnetic signal, and being converted to is digital signal, is sent into MCU control module and carries out calculation processing, thus
Carry out the judgement of dead ship condition.
The radio frequency Radar Detection module: radio frequency Radar Detection module is using Infineon BGT24LTR11 chip as radio frequency
Front end works in 24.0 GHz to 24.25 GHz ISM bands.MCU generates the triangular wave of 100KHz, is sent into BGT24LTR11's
The voltage-controlled end of voltage controlled oscillator VCO, generation centre frequency are 24GHz, and the frequency modulated signal through triangular modulation, and are passed through
Transmitting unit is launched.Receiving unit is mixed transmitting signal and reflection echo signal, output transmitting signal and reflection
Frequency difference signal I, Q of echo-signal.I, after Q signal is amplified, is filtered, the AD thief hatch for being sent into MCU carries out adopting for data
Collection.MCU can be obtained the distance between target and radar module information by acquisition and calculating to frequency difference signal, thus real
The detection of existing parking stall Parking situation.
The MCU control module: MCU uses STMicw Electronics STM32L031K6T6 chip, which has abundant outer
If resource, including the peripheral hardwares such as ADC, DAC, comparator, USART, SPI, I2C；STM32L031K6T6 chip simultaneously, using ARM frame
The low-power consumption MCU of structure, has the characteristics of low-power consumption, provides dynamic voltage regulation, super low-power consumption clock oscillator, super low-power consumption
The communications peripheral that can still work under short wakeup time and low-power consumption mode in mode, provides the string with low power consumption characteristic
Mouthful, timer, operating current is in operational mode down to 76uA/MHz, standby mode 0.23uA, stop mode 0.34uA.
The iic bus of MCU control module is connect with geomagnetic sensor, timing acquiring geomagnetic data, A D interface and radio frequency radar module phase
Even, the difference frequency data of timing acquiring radio frequency radar, serial ports is connected with NB-IoT communication module, with realization and remote back-office server
Data interaction.
In MCU control module, the algorithm mainly realized is as follows:
Earth magnetism car test algorithm:
1, the collected three axis earth magnetism quantized data of the N number of geomagnetism detecting module of MCU timing acquiring, first blocks initial data
Kalman Filtering, to eliminate the random error of sampled data；
2, in initial installation, the Geomagnetic signal of infield is tested automatically, to obtain the earth magnetism letter under quasi- free space
Number benchmark baseline B0；
3, MCU continuously analyzes geomagnetic data collected, and steady-state analysis engine carries out stable state calculating, if continuous acquisition arrive it is N number of
The jump of geomagnetic data no data (its data jump decision threshold, it is whole to earth magnetism car test by remote back-office server configuration distributing
End), then determine that current data is in stable state, otherwise, then is judged to jumping state.When data enter jump state, before automatic calculating
The geomagnetic data mean value of one stable state, the baseline value B1 as previous stable state；
4, steady-state analysis engine starts to search for next data stable state after detecting data jump, when next data stable state reaches
When, then calculate geomagnetic data mean value B2 at this time；
5, earth magnetism business judgement engine is sentenced according to the absolute value of the difference of the mean value B1 of previous stable state and the mean value B2 of this stable state
Vehicle whether occurs calmly to stop, from business, decision threshold, by remote back-office server configuration distributing to earth magnetism car test terminal.Needle
Vehicle is sailed out of, while need to determine B0 when whether mean value B2 returns free space；
6, after vehicle sails out of, MCU continues to calculate the benchmark baseline B0 of free space, slowly varying with adaptively signal magnetic field
Situation.
Radio frequency radar car test algorithm
1, M MCU of MCU timing acquiring acquires I, Q after mixed of radio frequency radar emission and echo under free space using AD
Signal data carries out bandpass filtering to initial data first, to eliminate the interference signal being mingled in sampled data；
2, in initial installation, radio frequency radar is opened, and by waveshape engine, calculates initial wave crest quantity A1 and trough number
Measure A2；
3, radio frequency radar is opened in MCU, and after acquiring M data point, waveshape engine utilizes the difference based on mathematical morphology
Position wave crest, trough extraction algorithm (PDE algorithm), calculate wave crest quantity C1 and trough quantity C2；
4, radio frequency radar business adjudicates engine and judges whether there is stoppage of vehicle in vehicle according to C1 and A1 difference and C2 and A2 difference
On position；When there is vehicle on parking stall, the enhancing of the rf echo signal due to caused by vehicle leads to I at this time, Q signal and does not stop
When I, Q signal wave distortion occurs, and more wave crests and trough are generated, so that radio frequency radar business judgement engine can determine that
Parking stall Parking situation out；
5, after vehicle sails out of, MCU continue calculate free space wave crest quantity A1 and trough quantity A2, with adaptive environment because
The slowly varying situation of radio frequency radar return caused by element.
Vehicle stops from secondary decision algorithm
1, when MCU progress vehicle stops from determining, it is contemplated that the feelings that geomagnetism detecting chip power-consumption is smaller, radio frequency radar power consumption increases
Condition, MCU only open geomagnetism detecting chip in routine testing, and radio frequency radar is in close state；
2, when MCU utilize earth magnetism car test algorithm, detect vehicle stop, from business after, open radio frequency radar, utilize radio frequency radar truck
Inspection algorithm carries out vehicle and stops, calculates from business；
3, secondary verification judgement engine carries out final according to earth magnetism car test algorithm and radio frequency radar car test algorithm calculated result
Business judgement confirms this business, and utilize NB-IoT communication module, sends traffic to remote back-office if adjudicating successfully
Server.Successful business is adjudicated for secondary verification, calculates the B2-B1 and radio frequency radar of the geomagnetic data of this business first
The absolute value of C1-A1, C2-A2 of data, then the numeric format of calculated result is turned into ASCII word string, by word string and this
What is determined stops, from type of service, is stored in secondary verification and adjudicates fingerprint base, can record newest K success in fingerprint base altogether
The finger print data of judgement；
4, engine is adjudicated in secondary verification, detects that vehicle stops, from business for earth magnetism car test algorithm, radio frequency radar car test is calculated
Special abnormality situation when method does not detect or testing result is inconsistent with earth magnetism car test arithmetic result, calculates this business first
The absolute value of C1-A1, C2-A2 of the B2-B1 and radio frequency radar data of geomagnetic data, and the numeric format of calculated result is turned to
ASCII word string, then Levenshtein distance is calculated with K data in secondary verification judgement fingerprint base, to realize fuzzy query
Matching.If failing to find matched data, then it is assumed that this service exception does not generate this and stops, from business；If fuzzy query
With success, then that extracts that occurrence stored stops, from type of service, as this secondary verification court verdict.
The NB-IoT data communication module: using NB-IoT module, using operator wireless communication network, realizes car test
Data interaction between terminal and remote back-office server.NB-IoT data communication module uses COAP agreement, corresponding by configuring
APN, IP address, port, be connected to operator's IOT platform.MCU control module is carried out by serial ports and NB-IoT communication module
Connection, when detecting parking or after sail out of business, MCU carries out framing according to the agreement between remote back-office server, and by group
The data message woven is sent to NB-IoT data communication module by serial ports, to be sent to remote back-office server；NB-
IoT data communication module receives the feedback message of remote back-office server, MCU control module is notified by serial ports, so as to MCU
Control module realizes complete machine control.
NB-IoT data communication module has the feature that
1, magnanimity connects: NB-IoT ratio 2G/3G/4G has 50 ~ 100 times of up-link capacity to be promoted, in the case where same base station,
NB-IoT can provide 50 ~ 100 times of access number than existing wireless technology.
2, depth covers: NB-IoT ratio LTE promotes 20dB gain.
3, super low-power consumption: NB-IoT focuses small data quantity, small rate application, to realize the super low-power consumption of communications portion.
4, inexpensive: low rate low-power consumption low bandwidth bring is low-cost advantage.
5, reliable and stable: NB-IoT is deployed directly into operator's existing network, can be multiplexed with existing network base station to drop
Small configuration cost realizes smooth upgrade, but uses individual 180KHz frequency range, is not take up the voice-and-data band of existing network
Width guarantees that traditional business and the following internet of things service can stable simultaneously, reliable progress.
The power supply of the whole machine management module: complete machine of the present invention is powered using 15000mAh heavy-duty battery, is used
TPS76333 voltage regulator chip generates 3.3V voltage so that MCU and earth magnetism sensing chip and Radar Signal Processing chip are used.
Meanwhile using metal-oxide-semiconductor control technology, realizes the electric power starting to radio frequency radar module, closes management, to realize the low function of complete machine
Consumption operation.
On hardware and software design, the power consumption control means of use have:
1, using the low-power scm STM32L031K6T6 of STM32 series, in complete machine suspend mode, all I/O ports of MCU are set as
Simulation model, MCU clock source are changed to MSI, and dominant frequency drops to 65.5KHz；Meanwhile MCU is configured to SLEEP mode, so that stopping
MCU electric current is down to 3uA when dormancy.
2, the switching on and shutting down pin of NB-IoT communication module is connected with the I/O port of MCU, before MCU enters suspend mode, passes through IO
Mouth control, closes NB-IoT communication module, so that NB-IoT communication module, which is in, closes dormant state.
3, geomagnetism detecting chip MAG3110 chip, when normal work, it is 1.25Hz, over-sampling that MCU, which configures sample rate ODR,
Rate is 2, operating current 68.8uA.When system suspend mode, over-sampling rate is configured to 8, quiescent current 8.6uA.
Before MCU suspend mode, power supply of the whole machine management module closes the power supply of radar module by metal-oxide-semiconductor, completely cuts through radio frequency thunder
The power supply reached, thus the power saving effect being optimal.
Embodiment 3
The present embodiment combination attached drawing is described further each module being related in the present invention, as shown in Figure 1:
Geomagnetism detecting module: using low-power consumption, digital 3 axis magnetometers, present position magnetic field strength can be measured, is controlled with MCU
Module carries out data interaction by the I2C serial line interface of standard, the present position magnetic field of up to 10 Gausses can be measured, by interior
Different power consumption and sample frequency control are realized in the setting of portion's register.
Radio frequency Radar Detection module: being based on FMCW technology, and the electromagnetic wave of radio frequency radar emission triangle arm is anti-by object
Echo and transmitting signal after penetrating have certain difference on the frequency, can obtain the distance between target and radar by measurement frequency difference
Information, difference frequency signal frequency is lower, generally KHz, therefore hardware handles are relatively easy, data is suitble to acquire and carry out digital letter
Number processing.After geomagnetism detecting is to doubtful stop from business, an I/O port of MCU controls metal-oxide-semiconductor, opens radio frequency Radar Detection module
Power supply, I after mixed, the Q signal of radio frequency Radar Detection module detection transmitting and echo and are transferred to testing result
MCU stops from secondary judgement vehicle to realize.
MCU control module: the module plays master control in the entire system, and MCU control module is by universal serial bus and leads to
Believe that module carries out data interaction, data interaction is carried out by I2C with geomagnetism detecting module, receives the knot from Radar Detection module
Fruit realizes the data acquisition of whole system, and data are sent and the control of Overall Power Consumption.
NB-IoT data communication module: NB-IoT data communication module is realized and remote back-office according to the control instruction of MCU
The data interaction of server.NB-IoT data communication module is under the control of MCU, to baud rate, the network system of NB network communication
The messaging parameters such as formula, remote server address and port carry out initial configuration, after then realizing attachment network, establishing and is long-range
Connection, the data interaction of platform server.NB-IoT data communication module has low power consumption characteristic, so that complete machine has for a long time
Cruising ability.
Power supply of the whole machine management module: complete machine uses 1 3.7V, and the power supply of 15000mAh heavy-duty battery is depressured core by LDO
Cell voltage is depressured by 3.7V as 3.3V, is supplied respectively to MCU module, earth magnetism module by piece, and radio frequency radar module uses.Meanwhile
Using metal-oxide-semiconductor control technology, realizes the electric power starting to radio frequency radar module, closes management.
Claims (10)
1. a kind of earth magnetism wagon detector based on NB-IoT technology, it is characterised in that: including geomagnetism detecting module, radio frequency radar
Detection module, MCU control module, NB-IoT communication module and power management module,
Geomagnetism detecting module: the disturbance using vehicle when parking to Geomagnetic signal detects the vehicle on parking stall in place；
Radio frequency Radar Detection module: transmitting radiofrequency signal simultaneously be mixed with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
MCU control module: the processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, carries out data interaction with remote back-office server；
NB-IoT data communication module: operator NB-IoT network is utilized, counts earth magnetism car test terminal with remote server
According to interaction；
Power supply of the whole machine management module: being respectively MCU control module, geomagnetism detecting module and the power supply of radio frequency Radar Detection module.
2. the earth magnetism wagon detector according to claim 1 based on NB-IoT technology, it is characterised in that: the earth magnetism inspection
It surveys module: using grace intelligence Pu MAG3110 chip, MCU control module is connected by iic bus with MAG3110 chip, MAG3110
Chip acquires the data of tri- axis of Geomagnetic signal X, Y, Z, and when parking stall is not stopped, MCU control module collects earth magnetic field certainly
By the geomagnetic data in space；When parking stall parking, since ferromagnetic object can cause the distortion in earth's magnetic field, MAG3110 chip is logical
The variation of detection Geomagnetic signal is crossed, and being converted to is digital signal, is sent into MCU control module and carries out calculation processing, to carry out
The judgement of dead ship condition.
3. the earth magnetism wagon detector according to claim 2 based on NB-IoT technology, it is characterised in that: the radio frequency thunder
, as radio-frequency front-end, 24.0 are worked in using Infineon BGT24LTR11 chip up to detection module: radio frequency Radar Detection module
For GHz to 24.25 GHz ISM bands, MCU control module generates the triangular wave of 100KHz, is sent into the voltage controlled oscillation of BGT24LTR11
The voltage-controlled end of device VCO, generation centre frequency are 24GHz, and the frequency modulated signal through triangular modulation, and pass through radio frequency radar
The transmitting unit of detection module is launched, and the receiving unit of radio frequency Radar Detection module is to transmitting signal and reflection echo signal
It is mixed, frequency difference signal I, Q of output transmitting signal and reflection echo signal；I, it after Q signal is amplified, is filtered, send
The AD thief hatch for entering MCU control module carries out the acquisition of data；MCU control module by the acquisition and calculating to frequency difference signal,
The distance between target and radio frequency Radar Detection module information are obtained, realizes the detection of parking stall Parking situation.
4. the earth magnetism wagon detector according to claim 3 based on NB-IoT technology, it is characterised in that: the MCU control
Molding block: using STMicw Electronics STM32L031K6T6 chip, and the iic bus of MCU control module is connect with MAG3110 chip,
The A D interface of timing acquiring geomagnetic data, MCU control module is connected with radio frequency Radar Detection module, timing acquiring radio frequency radar
The serial ports of difference frequency data, MCU control module is connected with NB-IoT communication module, realizes and hands over the data of remote back-office server
Mutually.
5. the earth magnetism wagon detector according to claim 4 based on NB-IoT technology, it is characterised in that: the NB-IoT
Data communication module: using NB-IoT module, using operator wireless communication network, realizes car test terminal and remote back-office service
Data interaction between device, NB-IoT data communication module use COAP agreement, are connected to operator's IOT platform；MCU control module
Be attached by serial ports and NB-IoT communication module, when detecting parking or after sail out of business, MCU control module according to it is remote
Agreement between journey background server carries out framing, and sends NB-IoT data communication module for the data message organized, from
And it is sent to remote back-office server；NB-IoT data communication module receives the feedback message notifying of remote back-office server
MCU control module, so that MCU control module realizes complete machine control.
6. the detection method of the earth magnetism wagon detector according to claim 1 based on NB-IoT technology, which is characterized in that
Include:
A, disturbance of the geomagnetism detecting module using vehicle when parking to Geomagnetic signal, detects the vehicle on parking stall in place；
B, radio frequency Radar Detection module transmitting and is mixed radiofrequency signal with its reflection echo, by the signal after mixing into
Row detection, detects the vehicle on parking stall in place；
C, the MCU control module processing geomagnetism detecting module and collected data of radio frequency Radar Detection module, carry out vehicle stop, from
Business determines, and by NB-IoT module, using operator's NB-IoT network, carries out data interaction with remote back-office server.
7. the detection method of the earth magnetism wagon detector according to claim 11 based on NB-IoT technology, feature exist
In a is specifically included:
The collected three axis earth magnetism of the N number of geomagnetism detecting module of a1, MCU control module timing acquiring quantifies geomagnetic data, and to original
Beginning data carry out Kalman filtering, eliminate the random error of sampled data；
A2, in initial installation, the Geomagnetic signal of infield is tested automatically, to obtain the earth magnetism letter under quasi- free space
Number benchmark baseline B0；
A3, MCU control module continuously analyze geomagnetic data collected, and steady-state analysis engine carries out stable state calculating, if continuously adopting
The N number of geomagnetic data no data jump collected, then determine that current data is in stable state, otherwise, then be judged to jumping state；Work as data
Into when jumping state, the geomagnetic data mean value of previous stable state is calculated automatically, the baseline value B1 as previous stable state；
A4, after steady-state analysis engine detects data jump, start to search for next data stable state, when next data stable state reach
When, then calculate geomagnetic data mean value B2 at this time；
A5, earth magnetism business judgement engine are sentenced according to the absolute value of the difference of the mean value B1 of previous stable state and the mean value B2 of this stable state
Vehicle whether occurs calmly to stop, from business；It is sailed out of for vehicle, while need to determine B0 when whether mean value B2 returns free space；
A6, after vehicle sails out of, MCU control module continue calculate free space benchmark baseline B0, with adaptively signal magnetic field
Slowly varying situation.
8. the detection method of the earth magnetism wagon detector according to claim 12 based on NB-IoT technology, feature exist
In the b is specifically included:
M b1, MCU control module timing acquiring MCU control module using radio frequency radar emission under AD acquisition free space and are returned
The I after mixed of wave, Q signal data, and bandpass filtering is carried out to initial data, eliminate the interference letter being mingled in sampled data
Number；
B2, in initial installation, open radio frequency Radar Detection module, and calculate initial wave crest quantity A1 and trough quantity A2；
B3, radio frequency radar is opened in MCU control module, and after acquiring M data point, calculating wave crest quantity C1 and trough quantity
C2；
B4, according to C1 and A1 difference and C2 and A2 difference, judge whether there is stoppage of vehicle on parking stall；When there is vehicle on parking stall,
The enhancing of the rf echo signal due to caused by vehicle, I when leading to I at this time, Q signal and not stopping, that waveform occurs for Q signal is abnormal
Become, and generate more wave crests and trough, determines parking stall Parking situation；
B5, after vehicle sails out of, MCU control module continue calculate free space wave crest quantity A1 and trough quantity A2, with from
Adapt to the slowly varying situation of radio frequency radar return caused by environmental factor.
9. the detection method of the earth magnetism wagon detector according to claim 13 based on NB-IoT technology, feature exist
In, the method also includes vehicles to stop from secondary judgement, specific as follows:
(1) when MCU control module progress vehicle stops from determining, MCU control module only opens geomagnetism detecting in routine testing
Module, radio frequency Radar Detection module are in close state；
(2) when MCU control module by geomagnetism detecting go out vehicle stop, from business after, open radio frequency Radar Detection module, by penetrating
Frequency detections of radar carries out vehicle and stops, calculates from business；
(3) according to geomagnetism detecting and radio frequency detections of radar calculated result, final business judgement is carried out, if adjudicating successfully, really
Recognize this business, and utilize NB-IoT communication module, sends traffic to remote back-office server；
(4) stop to vehicle, for geomagnetism detecting from business, radio frequency detections of radar is not detected or testing result is examined with earth magnetism
Survey result it is inconsistent when, calculate the B2-B1 of the geomagnetic data of this business and C1-A1, C2-A2 of radio frequency radar data first
Absolute value, and the numeric format of calculated result is turned into ASCII word string, then K data in fingerprint base are adjudicated with secondary verification
Levenshtein distance is calculated, to realize that fuzzy query matches；If failing to find matched data, then it is assumed that this business is different
Often, this is not generated to stop, from business；If fuzzy query successful match, that extracts that occurrence stored stops, from type of service,
As this secondary verification court verdict.
10. the detection method of the earth magnetism wagon detector according to claim 14 based on NB-IoT technology, feature exist
In: in the step (3), successful business is adjudicated for secondary verification, calculates the B2-B1 of the geomagnetic data of this business first
And the absolute value of C1-A1, C2-A2 of radio frequency radar data, then the numeric format of calculated result is turned into ASCII word string, by word
It goes here and there and what this was determined stops, from type of service, be stored in secondary verification and adjudicate fingerprint base, can record altogether in fingerprint base newest
K success adjudicate finger print data.
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