CN109782320A - Transport queue localization method and system - Google Patents
Transport queue localization method and system Download PDFInfo
- Publication number
- CN109782320A CN109782320A CN201910190759.3A CN201910190759A CN109782320A CN 109782320 A CN109782320 A CN 109782320A CN 201910190759 A CN201910190759 A CN 201910190759A CN 109782320 A CN109782320 A CN 109782320A
- Authority
- CN
- China
- Prior art keywords
- slave
- message
- positioning message
- information
- positioning
- 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.)
- Pending
Links
Abstract
This application involves transport fields, and in particular to a kind of transport queue localization method and system.The transport queue localization method sends satellite positioning message and auxiliary positioning message by synchronization gain and to host, enable the host to judge whether the posture information of satellite positioning message is effective by auxiliary positioning message, and invalid posture information can be corrected by auxiliary positioning message.The influence that satellite positioning message inaccuracy runs transport queue when transportation environment is complex is avoided as a result, improves safety when transport queue operation.
Description
Technical field
This application involves transport fields, in particular to a kind of transport queue localization method and system.
Background technique
There is highly important effect in the position of each means of transport in modern transportation queue, but with the fortune of transport queue
Defeated environment becomes increasingly complex, and only can no longer meet the location requirement of transport queue by traditional satellite positioning mode.Based on this,
How to carry out effective position to transport queue becomes those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
In view of this, the application's is designed to provide a kind of transport queue localization method and system, to solve or change
The kind above problem.
To achieve the goals above, the embodiment of the present application the technical solution adopted is as follows:
A kind of transport queue localization method, is applied to transport queue positioning system, and the transport queue positioning system includes
Host and the multiple slaves connecting with the main-machine communication, the transport queue localization method include:
Each slave generates corresponding satellite positioning message according to the satellite positioning signal of acquisition, and by the satellite positioning
Message is sent to the host, wherein the satellite positioning message is by least one in GPS positioning message and Beidou positioning message
Kind composition；
Each slave obtains auxiliary positioning message, and sends the host for the auxiliary positioning message, wherein
The auxiliary positioning message includes the slave ID of neighbouring slave and the distance between with the neighbouring slave；
The satellite positioning message that the host is sent according to each slave received obtains the posture letter of each slave
Breath, wherein the posture information includes the location information and velocity information of the slave；
The auxiliary positioning message that the host is sent according to each slave extracts effective from the posture information of each slave
Posture information.
In the embodiment of the present invention preferably selects, the step of each slave obtains auxiliary positioning message, includes:
Each slave obtains the wireless communication signals that neighbouring slave is sent, and according to the signal source of the wireless communication signals
SSID obtains the neighbouring slave ID, is obtained between the neighbouring slave according to the signal strength of the wireless communication signals
Distance.
In the embodiment of the present invention preferably selects, the step of each slave obtains auxiliary positioning message further include:
Acquire the image information of neighbouring slave, and image analysis carried out to described image information, obtain neighbouring slave ID with
And the distance between with the neighbouring slave.
In the embodiment of the present invention preferably selects, the image information for acquiring neighbouring slave, and described image is believed
Ceasing the step of carrying out image analysis includes:
The mean picture brightness of the Framework computing described image information, and judge whether described image average brightness is higher than
Predetermined luminance；
If it is not, laser night vision video camera is then called to acquire the image information adjacent to slave；
If so, infrared light filling video camera is called to acquire the image information adjacent to slave.
In the embodiment of the present invention preferably selects, the transport queue localization method further include:
In the host after receiving the satellite positioning message that the slave is sent, the satellite positioning message is judged
Whether positioning accuracy meets preset condition, and is generated according to the current building form of judging result and the satellite positioning message
Satellite positioning message adjustable strategies, and the slave is sent by the satellite positioning message adjustable strategies, to be defended described in adjustment
The building form of star positioning message；
Wherein, when the current building form includes the GPS positioning message and Beidou positioning one of message,
And the positioning accuracy of the satellite positioning message generates the first positioning strategy, to control the slave when being unsatisfactory for preset condition
Generate the combination message of GPS positioning message and Beidou positioning message；
When the current building form include the GPS positioning message and the Beidou positioning message combination, and exist
When meeting the satellite positioning message of preset condition, the host generates the second positioning strategy, to control described in the slave generation
Meet one of positioning message of preset condition in GPS positioning message and Beidou positioning message.
In the embodiment of the present invention preferably selects, satellite positioning that the host is sent according to each slave for receiving
Message, the step of obtaining the posture information of each slave include:
The auxiliary positioning information of the slave is generated according to the auxiliary positioning message that each slave is sent；
Judge each slave posture information whether the auxiliary positioning information matches with the slave；
If so, using the posture information of the slave as effective posture information of the slave；
If it is not, then being estimated according to the effective posture information of the history of the slave, obtain the slave currently estimates position,
And currently estimating position, posture information and auxiliary positioning information and obtain effective posture information of the slave according to the slave.
In the embodiment of the present invention preferably selects, it is described according to the slave currently estimate position, posture information and
Auxiliary positioning information obtains the step of effective posture information of the slave and includes:
According to the slave it is described currently estimate position, the posture information and the auxiliary positioning information obtain this from
Machine estimates position range；
Position range control angle of the video camera towards the slave is estimated according to the slave, and obtains the image of the slave
Information；
According to the image information of the slave of acquisition and estimates position range and obtain effective posture information of the slave.
In the embodiment of the present invention preferably selects, whether the posture information for judging each slave is auxiliary with the slave
After the step of helping location information to match, the method also includes:
For each slave, when the auxiliary positioning information of the posture information of the slave and the slave mismatches, the master
Machine generates monitoring and instructs the neighbouring slave being sent to the slave, to obtain the real-time monitoring images of the slave.
In the embodiment of the present invention preferably selects, the host is according to the auxiliary positioning message of each slave, from each
After the step of extracting effective posture information in the posture information of slave, the method also includes:
The real time kinematics track of the host and each slave is obtained according to effective posture information, and will be described real-time
Motion profile is shown.
The embodiment of the invention also provides a kind of transport queue positioning system, the transport queue positioning system includes host
And the multiple slaves being connect with the main-machine communication:
Each slave is used to generate corresponding satellite positioning message and auxiliary positioning according to the satellite positioning signal of acquisition
Message, and the host is sent by the satellite positioning message and the auxiliary positioning message；
Wherein, the satellite positioning message is made of at least one of GPS positioning message and Beidou positioning message, described
Auxiliary positioning message includes the slave ID of neighbouring slave and the distance between with the neighbouring slave；
The host is used for the satellite positioning message sent according to each slave received, obtains the posture of each slave
Information, and the auxiliary positioning message sent according to each slave, extract effective posture information from the posture information of each slave；
Wherein, the posture information includes the location information and velocity information of the slave.
Compared with prior art, beneficial effect provided by the present application is:
Transport queue localization method provided by the embodiments of the present application and system are sent by slave synchronization gain and to host
Satellite positioning message and auxiliary positioning message enable the host to the posture that satellite positioning message is judged by auxiliary positioning message
Whether information is effective, and invalid posture information can be corrected by auxiliary positioning message.Avoid as a result, transportation environment compared with
When for complexity, the influence that satellite positioning message inaccuracy runs transport queue improves safety when transport queue operation.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only some embodiments of the application, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the interaction schematic diagram of transport queue positioning system provided by the embodiments of the present application.
Fig. 2 is the flow diagram of transport queue localization method provided by the embodiments of the present application.
Fig. 3 is the schematic block circuit diagram of positioning signal reception system provided by the embodiments of the present application.
Fig. 4 is blind area of monitoring schematic diagram provided by the embodiments of the present application.
Fig. 5 is another blind area of monitoring schematic diagram provided by the embodiments of the present application.
Icon: 10- transport queue positioning system；100- host；200- slave；210- positioning signal reception module；211-
Main control chip；212- satellite positioning unit；213- auxiliary positioning unit.
Specific embodiment
Each means of transport in transport queue can be generally divided into host and slave, and in transport, slave is sent out to host
The work state information of slave is sent, host polymerize the work state information of each slave and shows the correlation inside host
Staff.
Based on technical background above-mentioned, present inventor has found the prior art when solving the orientation problem of transport queue
Global position system generally is configured on slave and host, for example, Beidou satellite alignment system, GPS satellite positioning system etc., lead to
It crosses global position system and obtains the satellite positioning message of host and each slave, and obtained by parsing each satellite positioning message
The location information of each means of transport into transport queue.
But as the transportation environment of transport queue becomes increasingly complex, only can no longer meet by traditional satellite positioning mode
The location requirement of transport queue.
For example, the transit route in transport queue may have the cover materials such as more trees, house, cover material can serious shadow
The transmission for ringing satellite positioning message, causes satellite positioning message to deviate, so as to cause what is obtained according to satellite positioning message
There is mistake in posture information.At this point, deviateing predetermined movement track, host may if accident occurs for slave in transport queue
Since the slave control instruction of the posture information generation error of slave mistake, and then may cause shipping accident.
Based on above-mentioned technical problem, aided positioning system can be arranged on each slave in present inventor's discovery, obtain
Auxiliary positioning message is obtained to solve problem of the prior art, thus, it is possible to obtain the phase of neighbouring slave according to auxiliary positioning message
It is modified to positional relationship, and to the posture information obtained according to satellite positioning message, obtains effective posture information, thus
Avoid influence of the mistake of satellite positioning message to transport queue.
Defect present in the above scheme in the prior art, is that applicant is obtaining after practicing and carefully studying
As a result, therefore, the solution that the discovery procedure of the above problem and hereinafter the embodiment of the present application are proposed regarding to the issue above
Scheme all should be the contribution that applicant makes the application during the application.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's all other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Key in embodiment and embodiment can be combined with each other.
As shown in Figure 1, transport queue positioning system 10 include host 100 and with host 100 communicate to connect it is multiple from
Machine 200.At work, the location information received is sent to host 100 by slave 200, and host 100 is determined according to slave 200
Position information obtains the posture information of slave 200, and the control of each slave 200 is generated according to the posture information of each slave 200
Instruction.Above-mentioned posture information include slave 200 location information, velocity information and slave 200 and other each slaves 200 it
Between pitch information.
The embodiment of the present application mainly by taking transport column as an example, is said transport queue localization method provided by the present application
It is bright.For the transport queue of other means of transports composition, such as transport fleet, it is still applicable in transport queue positioning provided by the present application
Method.
Further, referring to Fig. 2, a kind of process for transport queue localization method provided by the embodiments of the present application is illustrated
Scheme, in the present embodiment, transport queue localization method transport queue positioning system 10 as shown in Fig. 1 is executed.It should illustrate
It is that transport queue localization method provided by the embodiments of the present application is not limitation with Fig. 2 and specific order below.Transport queue is fixed
The detailed process of position method is as follows:
Step S110, each slave 200 generate corresponding satellite positioning message according to the satellite positioning signal of acquisition, and will
Satellite positioning message is sent to the host 100.
Wherein, satellite positioning message is made of at least one of GPS positioning message and Beidou positioning message.Also, it defends
Star positioning message can be generated by the positioning signal reception module 210 being arranged on slave 200.
As shown in figure 3, positioning signal reception module 210 may include main control chip 211, satellite positioning unit 212 and
Auxiliary positioning unit 213.Wherein, satellite positioning unit 212 and auxiliary positioning unit 213 are used as peripheral hardware to pass through bus and master control
Chip 211 connects.
As an implementation, satellite positioning unit 212 can be the BG-50 module of " and core star is logical ", main control chip
211 can be the fpga chip (ZP3C40F324) of altera corp.At work, BG-50 module obtains satellite positioning message,
And fpga chip is sent for satellite positioning message in a manner of serial communication electrical level transferring chip (MAX3232).FPGA
Chip sends host 100 for satellite positioning message by communication module.
In the case where satellite positioning signal reception good, the position error of above-mentioned positioning signal reception module 210 can be with
Guarantee within 2 meters, can guarantee normal positioning under normal circumstances.
Step S120, each slave 200 obtains auxiliary positioning message, and sends host for auxiliary positioning message
100。
Wherein, auxiliary positioning message includes the slave ID of neighbouring slave and the distance between with neighbouring slave.
Please continue to refer to Fig. 3, auxiliary positioning unit 213 can obtain auxiliary positioning signal and be sent to main control chip 211,
Main control chip 211 generates above-mentioned auxiliary positioning message according to auxiliary positioning signal.
As an implementation, auxiliary positioning unit 213 can be wireless communication module, wherein wireless communication module
Including WIFI module, 2.4G communication module, RFID (Radio Frequency Identification, Radio Frequency Identification Technology) mould
One or more combinations of the wireless communication modules such as block, NFC (Near Field Communication, near-field communication) module.
When auxiliary positioning unit 213 is wireless communication module, can first be obtained in the step of obtaining auxiliary positioning message
The wireless communication signals that neighbouring slave is sent are obtained, neighbouring slave ID is then obtained according to the signal source SSID of wireless communication signals,
And the distance between neighbouring slave is obtained according to the signal strength of wireless communication signals.
At work, each slave 200 generally successively follows host 100, forms transport queue.For bulk transport vehicle
Team, the distance between each slave 200 general control is at 30 meters or so.It, can not be by one in a fairly large number of situation of slave 200
A radio signal source covers all slaves 200.Thus, it is possible to which wireless communication is respectively set in the headstock and the tailstock in each slave 200
Number sending device and wireless signal receiver.For example, wireless signal sending device can be about 900MHZ's for frequency
RFID label tag, wireless signal receiver can be RFID reader.
Specifically, for each slave 200, the RFID label tag at 200 headstock of slave, which is arranged in, to be sent out
FRID label information, the RFID reader at 200 tailstock of slave, which is arranged in, can obtain the FRID label information of neighbouring slave.
The RFID reader of the slave 200 sends the main control chip 211 of the slave 200 for the FRID label information of neighbouring slave to obtain
The slave ID of neighbouring slave and the distance between with neighbouring slave, and by the slave ID of neighbouring slave and with neighbouring slave
The distance between be encapsulated as auxiliary positioning message.
Wherein, the FRID label information of neighbouring slave may include the FRID label information of first slave 200 in front with
And the FRID label information of first slave 200 in rear.It should be noted that front refers to the direction of motion one with transport queue
The direction of cause, rear refer to the direction opposite with the direction of motion of transport queue.
Optionally, at work, each slave 200 is internally provided with multiple sensors to detect cargo in slave 200
Travel position, for example, temperature sensor, humidity sensor.Each sensor in slave 200 generally pass through WIFI module and/
Or the fpga chip communication connection of the communication modules such as 2.4G communication module and slave 200.It, can as a kind of feasible embodiment
With the communication signal strength by adjusting WIFI module and/or 2.4G communication module, make WIFI module and/or 2.4G communication module
Neighbouring slave can be covered, and be provided with communication terminal (STA) on neighbouring slave, with monitor in real time WIFI module and/or
The detection frame of 2.4G communication module broadcast to obtain signal source and detect the signal strength of frame, and then obtains auxiliary positioning
Message.
Based on above-mentioned design, the distance between neighbouring slave can be obtained according to communication signal strength, generates auxiliary positioning
The process of message is simple, and calculation amount is small.
As another embodiment, auxiliary positioning unit 213 can be photographing module.For bulk transport fleet, it is
Complete slave image is obtained, photographing module can be set on the shelter of slave 200.Photographing module can be to chase after at work
Tail visual angle obtains the slave image of front slave 200.
The present inventors have noted that photographing module may quilt when photographing module to be arranged on the shelter of slave 200
The headstock of the slave 200 blocks, and forms camera shooting blind area as shown in Figure 4.
To avoid camera shooting blind area from influencing the slave image of front slave 200, for 30 meters of spacing, high 3.2 meters of the fortune of headstock
Defeated fleet, when the up-front horizontal distance of headstock of photographing module and the slave 200 is 3.5 meters.To make at neighbouring slave whole
In in monitoring range, then photographing module minimum altitude is to meet following relationship:
The photographing module being arranged on shelter is higher than 3.6 meters, can obtain the complete from vehicle image of front slave 200.
Referring to Fig. 5, further, it is contemplated that the neighbouring slave that slave 200 may influence the slave 200 in turning obtains
The slave image of the slave 200 obtained.For example, slave 200 turning when, the neighbour of the tail part of the slave 200 in its rear
Deformation is generated in the slave image of nearly slave.It to solve this technical problem, can be before slave image be further processed
Slave image is corrected according to the length-width ratio of tail part.
Based on above-mentioned slave image, when auxiliary positioning unit 213 is photographing module, in the step for obtaining auxiliary positioning message
The slave image for the neighbouring slave that can be acquired in rapid, and image analysis is carried out to slave image, obtain adjacent to slave ID and
The distance between neighbouring slave.
Specifically, image recognition first can be carried out to the image information adjacent to slave, for example, Car license recognition, obtains neighbouring
The slave ID of slave.It is then possible to according to the ratio that neighbouring slave occupies on slave image, obtain with neighbouring slave away from
From.Auxiliary positioning message is generated finally, the distance of the slave ID of neighbouring slave and neighbouring slave are packaged.
To avoid transport column that from can not obtaining slave image in night running, photographing module may include that laser night vision is taken the photograph
Camera and infrared light filling video camera can call camera shooting appropriate according to the mean picture brightness of slave image at work
Machine is imaged.
Specifically, the mean picture brightness of slave 200 can be first calculated, and it is default to judge whether mean picture brightness is higher than
Brightness.When mean picture brightness is lower than predetermined luminance, then laser night vision video camera is called to acquire the image information of neighbouring slave；When
Mean picture brightness is higher than predetermined luminance, then infrared light filling video camera is called to acquire the image information of neighbouring slave.
In addition, for guarantee night can also to slave image carry out image procossing, the shelter rear portion of each slave 200 and
Mark (for example, license plate) can be coated with fluorescent material.
Based on above-mentioned design, auxiliary positioning message can be obtained according to slave image, further, it is also possible to neighbouring slave into
Row real time monitoring.For example, host 100 can be with the photographing module of the neighbouring slave of invocation target slave to mesh when occurring unexpected
Mark slave is monitored in real time.
Based on the technical effect to be realized of the application, repaired to allow host 100 can use above-mentioned auxiliary positioning message
Positive satellite positioning message, above-mentioned auxiliary positioning message can generate simultaneously with satellite positioning message.
Specifically, when the satellite positioning message acquired is sent fpga chip by above-mentioned BG-50 module, fpga chip
Auxiliary positioning unit 213 can first be controlled simultaneously and obtain auxiliary positioning message.Then, by auxiliary positioning message and satellite positioning report
Text, which is packaged together, is sent to host 100.
As a kind of feasible embodiment, the host 100 in transport queue provided by the present application can be using poll
The positioning message of method acquisition slave 200.
Specifically, host 100 can send poll instruction in each polling cycle according to polling cycle to slave 200, from
Machine 200 responds poll instruction and sends positioning message to host 100 in the polling cycle.Above-mentioned polling cycle can be according to BG-
The period that 50 modules obtain satellite positioning message determines.For example, polling cycle can be with the acquisition period phase of satellite positioning message
Together, BG-50 module obtains a satellite positioning message in each polling cycle.
Step S130, the satellite positioning message that host 100 is sent according to each slave 200 for receiving, obtain it is each from
The posture information of machine 200, wherein posture information includes the location information and velocity information of slave 200.
At work, after host 100 receives the satellite positioning message that each slave 200 is sent, first by each slave
200 satellite positioning message is stored in data cached queue.Then, satellite positioning message, root are extracted from data cached queue
Judge whether present satellites positioning message is effective according to the check information in satellite positioning message.If present satellites positioning message has
Effect, host 100 successively parses longitude and latitude data, time data according to the reference format of satellite positioning message, and data obtain accordingly
The speed of slave 200 and direction out.If it is invalid that present satellites position message, terminate resolving, waits next frame navigation report
Text.
The step of based on above-mentioned parsing, the satellite that host 100 successively sends each slave 200 of current polling cycle
Position message is parsed, and the location information (longitude and latitude data) and the velocity information (speed of slave 200 of each slave 200 are obtained
Degree and direction), to obtain the posture information of each slave 200.
Wherein, the reference format of satellite positioning message can be satellite message form specified in NMEA-0183 standard, example
Such as, $ GPRMC (transport positioning message), $ GPGGA (global location message).
In view of when the satellite positioning unit 212 used is BG-50 module, BG-50 module can obtain Beidou simultaneously
Message and GPS positioning message are positioned, message can be positioned to Beidou according to the precision of satellite positioning message in actual operation
And GPS positioning message is combined.
Specifically, host 100 judges satellite positioning message after the satellite positioning message for receiving the transmission of slave 200
Whether positioning accuracy meets preset condition, and generates satellite according to the current building form of judging result and satellite positioning message
Message adjustable strategies are positioned, then send slave 200 for satellite positioning message adjustable strategies, to adjust the group of satellite positioning message
At mode.
It wherein, include that GPS positioning message and Beidou position one of message, and satellite positioning report in current building form
The positioning accuracy of text generates the first positioning strategy when being unsatisfactory for preset condition, with control slave 200 generate GPS positioning message and
The combination message of Beidou positioning message.
Include the combination of GPS positioning message and Beidou positioning message in current building form, and exists and meet preset condition
Satellite positioning message when, generate the second positioning strategy, with control slave 200 generate GPS positioning message and Beidou positioning message
The middle one of positioning message for meeting preset condition.
The positioning accuracy of above-mentioned satellite positioning message can refer to the variance of Beidou positioning message and GPS positioning message.In north
When bucket positioning message or GPS positioning message use $ GPGGA, the positioning accuracy of above-mentioned satellite positioning message can also refer in message
HDOP (Horizontal Dilution of Precision, horizontal position dilution of precision).
Above-mentioned the first positioning strategy, the second positioning strategy can refer to the BG-50 composition that host 100 is sent to slave 200
Developing Tactics instruction.Specifically, the format of above-mentioned composition Developing Tactics instruction can be (PCMDG, n).$ PCMDG is composition plan
The slightly flag bit of adjustment instruction, n are the command content for forming Developing Tactics instruction.Wherein, it when n=1, is positioned and is reported using Beidou
Text, when n=2, using GPS positioning message；When n=3, using the combination of Beidou positioning message and GPS positioning message.
It should be noted that other working conditions of BG-50 module can also be controlled by similar procedure, for example,
BG-50 mould can be controlled according to the number of satellite that BG-50 module acquires the baud rate of satellite-signal and connect with BG-50 module
The baud rate of block.
Step S140, the auxiliary positioning message that host 100 is sent according to each slave 200, from the posture of each slave 200
Effective posture information is extracted in information.
As an implementation, in above-mentioned steps, host 100 can be first according to the auxiliary of each slave 200 transmission
Positioning message generates the auxiliary positioning information of the slave 200；Then, judge each slave 200 posture information whether with this from
The auxiliary positioning information matches of machine 200.When the auxiliary positioning information matches of the posture information of slave 200 and the slave 200, then
Using the posture information as effective posture information；When slave 200 posture information and the slave 200 auxiliary positioning information not
It when matching, can first be estimated according to the effective posture information of history of the slave 200, obtain currently estimating for the slave 200
Position, and currently estimating position, posture information and auxiliary positioning information and obtain having for the slave 200 according to the slave 200
Imitate posture information.
In above process, it is carried out estimating the method that can use multiple linear regression according to the effective posture information of history,
Regression model is constructed according to the effective posture information of the history of the slave 200, and estimates the slave 200 current using regression model
The longitude and latitude discreet value at moment estimates position to obtain the current of the slave 200.
As an implementation, position, posture information and auxiliary positioning information are currently estimated according to the slave 200
The step of obtaining effective posture information of the slave 200 can be and directly currently estimate position, posture according to the slave 200
Information and auxiliary positioning information calculate mathematical mean and obtain effective posture information of the slave 200.
As another embodiment, the camera shooting for monitoring entire fleet operations' situation can be set on host 100
Machine can first be determined according to position, the posture information and the auxiliary currently estimated of the slave 200 at work
What position information obtained the slave 200 estimates position range.Then, position range control video camera is estimated according to the slave 200
Towards the angle of the slave 200, and obtain the image information of the slave 200.Finally, according to the figure of the collected slave 200
As information and estimates position range and obtain effective posture information of the slave 200.
Photographing module facilities based on Fig. 4, it has been investigated that the height for the photographing module being arranged on 100 shelter of host
When degree is higher than 4.5 meters, photographing module can form effective monitoring to entire fleet.In the monitoring image of host 100, it can obtain
The image information at the top of the shelter of each slave 200 is obtained, thus, it is possible to draw mark figure at the top of the shelter of each slave 200
Case, so that host 100 obtains the location information of each slave 200 according to identification pattern, to obtain effective posture information.
In view of transport queue has higher requirement to the stability of communication network in actual operation, passed to reduce to the greatest extent
Defeated data, even if each slave 200 is provided with photographing module, but at work, each slave 200 will be adjacent to the monitoring of slave
Image carries out local preservation, is not sent to host 100.But when the error occurs in view of the satellite positioning message of transport column,
Accident may occur.Satellite positioning message when the error occurs, slave 200 to host 100 in real time send slave image.
Specifically, for each slave 200, when the posture information of the slave 200 and the auxiliary positioning information of the slave 200
When mismatch, the host 100 generates monitoring and instructs the neighbouring slave being sent to the slave 200, to obtain the slave 200
Real-time monitoring images.
It is monitored for traffic condition of the administrative staff to transport queue, can carry out to the traffic condition of transport queue can
It is presented depending on changing, it can the real time kinematics rail of the host 100 and each slave 200 is obtained according to effective posture information
Mark, and the real time kinematics track is shown.
In conclusion transport queue localization method provided by the embodiments of the present application and system, pass through 200 synchronization gain of slave
And satellite positioning message and auxiliary positioning message are sent to host 100, so that host 100 is crossed and is judged by auxiliary positioning message
Whether the posture information of satellite positioning message is effective, and invalid posture information can be corrected by auxiliary positioning message.As a result,
It avoids when environment is complex, the influence that satellite positioning message inaccuracy runs transport queue improves transport
Safety when queue is run.
It should be noted that, in this document, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including wanting
There is also other identical elements in the process, method, article or equipment of element.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or basic key, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of transport queue localization method, which is characterized in that be applied to transport queue positioning system, the transport queue positioning
System includes host and multiple slaves for connecting with the main-machine communication, and the transport queue localization method includes:
Each slave generates corresponding satellite positioning message according to the satellite positioning signal of acquisition, and by the satellite positioning message
It is sent to the host, wherein the satellite positioning message is by least one of GPS positioning message and Beidou positioning message group
At；
Each slave obtains auxiliary positioning message, and sends the host for the auxiliary positioning message, wherein described
Auxiliary positioning message includes the slave ID of neighbouring slave and the distance between with the neighbouring slave；
The satellite positioning message that the host is sent according to each slave received, obtains the posture information of each slave,
In, the posture information includes the location information and velocity information of the slave；
The auxiliary positioning message that the host is sent according to each slave, extracts effective posture from the posture information of each slave
Information.
2. transport queue localization method according to claim 1, which is characterized in that each slave obtains auxiliary positioning
The step of message includes:
Each slave obtains the wireless communication signals that neighbouring slave is sent, and according to the signal source SSID of the wireless communication signals
Obtain the neighbouring slave ID, according to the signal strength of the wireless communication signals obtain and the neighbouring slave between away from
From.
3. transport queue localization method according to claim 1, which is characterized in that each slave obtains auxiliary positioning
The step of message further include:
Acquire the image information of neighbouring slave, and image analysis carried out to described image information, obtain neighbouring slave ID and with
The distance between described neighbouring slave.
4. transport queue localization method according to claim 3, which is characterized in that the image for acquiring neighbouring slave is believed
Breath, and the step of carrying out image analysis to described image information includes:
The mean picture brightness of the Framework computing described image information, and it is default to judge whether described image average brightness is higher than
Brightness；
If it is not, laser night vision video camera is then called to acquire the image information adjacent to slave；
If so, infrared light filling video camera is called to acquire the image information adjacent to slave.
5. transport queue localization method according to any one of claims 1-4, which is characterized in that the transport queue is fixed
Position method further include:
In the host after receiving the satellite positioning message that the slave is sent, the positioning of the satellite positioning message is judged
Whether precision meets preset condition, and generates satellite according to the current building form of judging result and the satellite positioning message
Message adjustable strategies are positioned, and send the slave for the satellite positioning message adjustable strategies, to adjust the satellite
The building form of position message；
Wherein, when the current building form includes that the GPS positioning message and the Beidou position one of message, and institute
When stating the positioning accuracy of satellite positioning message and being unsatisfactory for preset condition, the first positioning strategy is generated, is generated with controlling the slave
The combination message of GPS positioning message and Beidou positioning message；
When the current building form include the GPS positioning message and the Beidou positioning message combination, and exist meet
When the satellite positioning message of preset condition, the host generates the second positioning strategy, fixed to control the slave generation GPS
Meet one of positioning message of preset condition in position message and Beidou positioning message.
6. transport queue localization method according to claim 1, which is characterized in that the host is each according to what is received
The satellite positioning message that slave is sent, the step of obtaining the posture information of each slave include:
The auxiliary positioning information of the slave is generated according to the auxiliary positioning message that each slave is sent；
Judge each slave posture information whether the auxiliary positioning information matches with the slave；
If so, using the posture information of the slave as effective posture information of the slave；
If it is not, then being estimated according to the effective posture information of the history of the slave, obtain the slave currently estimates position, and root
Currently estimating position, posture information and auxiliary positioning information and obtain effective posture information of the slave according to the slave.
7. transport queue localization method according to claim 6, which is characterized in that currently the estimating according to the slave
The step of position, posture information and auxiliary positioning information obtain effective posture information of the slave include:
Described according to the slave currently estimates position, the posture information and the auxiliary positioning information and obtains the slave
Estimate position range；
Position range control angle of the video camera towards the slave is estimated according to the slave, and obtains the image letter of the slave
Breath；
According to the image information of the slave of acquisition and estimates position range and obtain effective posture information of the slave.
8. transport queue localization method according to claim 6, which is characterized in that the posture letter of each slave of judgement
Breath whether auxiliary positioning information matches with the slave the step of after, the method also includes:
For each slave, when the auxiliary positioning information of the posture information of the slave and the slave mismatches, the host is raw
It is sent to the neighbouring slave with the slave at monitoring instruction, to obtain the real-time monitoring images of the slave.
9. transport queue localization method according to claim 1, which is characterized in that the host is auxiliary according to each slave
Positioning message is helped, after the step of extracting effective posture information in the posture information of each slave, the method also includes:
The real time kinematics track of the host and each slave is obtained according to effective posture information, and by the real time kinematics
Track is shown.
10. a kind of transport queue positioning system, which is characterized in that the transport queue positioning system include host and with it is described
Multiple slaves of main-machine communication connection:
Each slave is used to generate corresponding satellite positioning message and auxiliary positioning message according to the satellite positioning signal of acquisition,
And the host is sent by the satellite positioning message and the auxiliary positioning message；
Wherein, the satellite positioning message is made of at least one of GPS positioning message and Beidou positioning message, the auxiliary
Positioning message includes the slave ID of neighbouring slave and the distance between with the neighbouring slave；
The host is used for the satellite positioning message sent according to each slave received, obtains the posture letter of each slave
Breath, and the auxiliary positioning message sent according to each slave, extract effective posture information from the posture information of each slave；
Wherein, the posture information includes the location information and velocity information of the slave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190759.3A CN109782320A (en) | 2019-03-13 | 2019-03-13 | Transport queue localization method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910190759.3A CN109782320A (en) | 2019-03-13 | 2019-03-13 | Transport queue localization method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109782320A true CN109782320A (en) | 2019-05-21 |
Family
ID=66487823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910190759.3A Pending CN109782320A (en) | 2019-03-13 | 2019-03-13 | Transport queue localization method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109782320A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110138882A (en) * | 2019-06-10 | 2019-08-16 | 中国人民解放军海军工程大学 | The means of transport queue means of communication and system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070109185A1 (en) * | 2005-11-14 | 2007-05-17 | Doug Kracke | Providing GPS pseudo-ranges |
| CN101329393A (en) * | 2008-08-01 | 2008-12-24 | 北京北斗星通导航技术股份有限公司 | Big dipper / GPS double-module shipborne terminal and coordination scheduling method thereof |
| CN102027519A (en) * | 2008-07-10 | 2011-04-20 | 三菱电机株式会社 | Train-of-vehicle travel support device |
| CN102726047A (en) * | 2010-03-19 | 2012-10-10 | 庆熙大学校产学协力团 | Surveillance system |
| CN104990554A (en) * | 2015-05-04 | 2015-10-21 | 南京邮电大学 | Inertial navigation positioning method in GNSS blind area based on cooperation between VANET vehicles |
| CN102906654B (en) * | 2010-05-31 | 2015-12-09 | 沃尔沃汽车公司 | The control system that fleet advances |
| CN107592623A (en) * | 2017-09-21 | 2018-01-16 | 江苏添仂智能科技有限公司 | The method of suspended rail automatic driving vehicle precise positioning and ranging based on UWB and DGPS technologies |
| CN107972662A (en) * | 2017-10-16 | 2018-05-01 | 华南理工大学 | To anti-collision warning method before a kind of vehicle based on deep learning |
| CN108508458A (en) * | 2018-03-05 | 2018-09-07 | 中南大学 | Unmanned plane GPS positioning fault detection reconstruction method based on ranging between machine |
| CN108535753A (en) * | 2018-03-30 | 2018-09-14 | 北京百度网讯科技有限公司 | Vehicle positioning method, device and equipment |
-
2019
- 2019-03-13 CN CN201910190759.3A patent/CN109782320A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070109185A1 (en) * | 2005-11-14 | 2007-05-17 | Doug Kracke | Providing GPS pseudo-ranges |
| CN102027519A (en) * | 2008-07-10 | 2011-04-20 | 三菱电机株式会社 | Train-of-vehicle travel support device |
| CN101329393A (en) * | 2008-08-01 | 2008-12-24 | 北京北斗星通导航技术股份有限公司 | Big dipper / GPS double-module shipborne terminal and coordination scheduling method thereof |
| CN102726047A (en) * | 2010-03-19 | 2012-10-10 | 庆熙大学校产学协力团 | Surveillance system |
| CN102906654B (en) * | 2010-05-31 | 2015-12-09 | 沃尔沃汽车公司 | The control system that fleet advances |
| CN104990554A (en) * | 2015-05-04 | 2015-10-21 | 南京邮电大学 | Inertial navigation positioning method in GNSS blind area based on cooperation between VANET vehicles |
| CN107592623A (en) * | 2017-09-21 | 2018-01-16 | 江苏添仂智能科技有限公司 | The method of suspended rail automatic driving vehicle precise positioning and ranging based on UWB and DGPS technologies |
| CN107972662A (en) * | 2017-10-16 | 2018-05-01 | 华南理工大学 | To anti-collision warning method before a kind of vehicle based on deep learning |
| CN108508458A (en) * | 2018-03-05 | 2018-09-07 | 中南大学 | Unmanned plane GPS positioning fault detection reconstruction method based on ranging between machine |
| CN108535753A (en) * | 2018-03-30 | 2018-09-14 | 北京百度网讯科技有限公司 | Vehicle positioning method, device and equipment |
Non-Patent Citations (3)
| Title |
|---|
| 苏志成: "基于VANET的目标车辆定位技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 邵震洪: "一种基于协作和多普勒频移的车辆定位算法", 《东南大学学报》 * |
| 黄金国: "多传感器融合与邻居协作的车辆精确定位方法", 《计算机技术与应用》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110138882A (en) * | 2019-06-10 | 2019-08-16 | 中国人民解放军海军工程大学 | The means of transport queue means of communication and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103778523B (en) | Vertical take-off and landing unmanned aerial vehicle and precise positioning and obstacle avoidance method thereof | |
| CN107924636B (en) | Moving object recognition system and recognition method | |
| CN103941746B (en) | Image processing system and method is patrolled and examined without man-machine | |
| CN111316284A (en) | Lane line detection method, device and system, vehicle and storage medium | |
| CN111448476A (en) | Techniques for sharing drawing data between an unmanned aerial vehicle and a ground vehicle | |
| CN109374008A (en) | A kind of image capturing system and method based on three mesh cameras | |
| EP3913328B1 (en) | Vehicle positioning system and method, and vehicle | |
| CN109212545A (en) | Multiple source target following measuring system and tracking based on active vision | |
| JP2007232690A (en) | Present position detection apparatus, map display device and present position detecting method | |
| JP7190699B2 (en) | Flight system and landing control method | |
| CN104748754B (en) | Vehicle positioning method and its system | |
| CN110636255A (en) | Unmanned aerial vehicle image and video transmission and distribution system and method based on 4G network | |
| CN107656266A (en) | S mode secondary radar information fusion system and its fusion method based on ADS B | |
| CN107452038A (en) | Complex water areas method for tracking target based on AIS and active video camera | |
| CN109194284A (en) | Photovoltaic plant cruising inspection system, ground based terminal and equipment of taking photo by plane | |
| CN109782320A (en) | Transport queue localization method and system | |
| JP6701153B2 (en) | Position measurement system for moving objects | |
| CN105551291B (en) | Transit riding guidance system | |
| US20220394213A1 (en) | Crowdsourced surveillance platform | |
| CN108711344A (en) | Drive training Driving Test examination evaluation system | |
| CN106020238A (en) | Unmanned aerial vehicle search and rescue method and system | |
| KR20130128221A (en) | Vessel monitoring system and method thereof | |
| CN113253619B (en) | Ship data information processing method and device | |
| CN112585957A (en) | Station monitoring system and station monitoring method | |
| CN114928812B (en) | Emergency search device, system and method for aircraft |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190521 |