CN110487265A - Vehicle positioning system, method and controller - Google Patents
Vehicle positioning system, method and controller Download PDFInfo
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- CN110487265A CN110487265A CN201910843300.9A CN201910843300A CN110487265A CN 110487265 A CN110487265 A CN 110487265A CN 201910843300 A CN201910843300 A CN 201910843300A CN 110487265 A CN110487265 A CN 110487265A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The present invention relates to a kind of vehicle positioning system, method and controllers, belong to vehicle positioning technology field, the system on vehicle by being arranged electromagnetic sensor, position of the electromagnetic sensor in electromagnetic path space is obtained using electromagnetic induction principle, direction and location status of the vehicle in electromagnetic path space are judged in the position in electromagnetic path space according to each sensor.Contain inductance coil in electromagnetic sensor, inductance coil can generate constant potential in the magnetic field of alternation, it may determine that the size in the magnetic field of electromagnetic sensor position by the size of potential, so as to judge position of the electromagnetic sensor in electromagnetic path space, and then judge the location status of automobile in space, so that automobile gets rid of the requirement to GPS signal in the position fixing process in fixed area, vehicle location can be judged only by magnetic field.
Description
Technical field
The invention belongs to vehicle positioning technology fields, and in particular to a kind of vehicle positioning system, method and controller.
Background technique
With the promotion at full speed of science and technology, there has also been fast developments in automatic Pilot field in recent years.Autonomous driving vehicle
(Autonomous vehicles；Self-piloting automobile) be also known as pilotless automobile, computer driving or
Wheeled mobile robot is that one kind by computer system realizes unpiloted intelligent automobile.
Currently, generalling use mode of the GPS in conjunction with inertial navigation, the positioning of Lai Shixian automobile in automatic Pilot.
But GPS system because its own vulnerable to the factors such as weather, air, electromagnetic wave influence positioning result the characteristics of so that
In the case where some remote mountain areas, high buildings and large mansions and underground mining site etc. close scene, occur that positioning signal is poor, signal strength is weak, very
To there is no the problem of signal, positioning is caused to fail, seriously hinder the development of automatic Pilot technology, promoted and apply.
Summary of the invention
In order to solve the problems, such as it is of the existing technology position failure because signal is weak, the present invention provides a kind of vehicle is fixed
Position system and method, by using electromagnetism carry out vehicle location, with realize quickly, accurately carry out vehicle location.
Technical solution provided by the invention is as follows:
On the one hand, a kind of vehicle positioning system, comprising: vehicle-mounted element, magnetic field generation device and processing module, it is described vehicle-mounted
Element includes at least three electromagnetic sensor, and at least three electromagnetic sensor is distributed in the same level of vehicle, described
Horizontal plane is parallel to the ground；
The magnetic field generation device, for generating changing magnetic field in space in vehicle；
Each electromagnetic sensor generates electromotive force, and the electromotive force is sent after vehicle enters the magnetic field
To the processing module；
The processing module, for obtaining the electromotive force of each electromagnetic sensor, and according to each electricity
The electromotive force of Magnetic Sensor judges the current position and direction of the vehicle.
Still optionally further, the magnetic field generation device includes two parallel electromagnetic paths, two parallel electricity
The edge of runway is corresponding where magnetic orbital and the vehicle；
The electromagnetic path is laid on road surface or underground, or is suspended in vehicle up direction.
Still optionally further, the magnetic field generation device includes: galvanomagnetic signal transmitter；The galvanomagnetic signal transmitter with
The electromagnetic path series connection, the galvanomagnetic signal transmitter is by exporting alternating current to the electromagnetic path in the electricity
The magnetic field is generated in space where magnetic orbital.
Still optionally further, the electromagnetic path includes at least two track elements；Each track element connects；Institute
It states contact portion between track element and has and flow to opposite electric current.
Still optionally further, galvanomagnetic signal transmitter, each track element is respectively set in each track element
Both ends connect the signal output end and signal receiving end of the galvanomagnetic signal transmitter.
Still optionally further, the galvanomagnetic signal transmitter is sinusoidal signal generator.
Still optionally further, the electromagnetic path is multiband electromagnetism guide rail；Outside the conducting wire of the multiband electromagnetic path
It is wrapped up using rubber sleeve in portion.
Another aspect, a kind of vehicle positioning method realized based on any of the above-described vehicle positioning system, comprising:
Obtain the electromotive force that each electromagnetic sensor generates in space magnetic field on vehicle；
The current position and direction of the vehicle are judged according to the electromotive force of each electromagnetic sensor.
Still optionally further, the electromotive force according to each electromagnetic sensor judges that the vehicle is current
Position and direction include:
According to the electromotive force of each electromagnetic sensor, current each electromagnetic sensor and an institute are determined
State the vertical range of electromagnetic path；
According to the vertical range, the position and direction of the vehicle in space are determined.
Another aspect, a kind of controller, including memory and processor, the memory are used to store computer program,
The processor is for executing the computer program, to realize vehicle positioning method described in any of the above embodiments.
Vehicle positioning system, method and controller provided in an embodiment of the present invention, including vehicle-mounted element, magnetic field generation device
And processing module, vehicle-mounted element include at least three electromagnetic sensor, at least three electromagnetic sensor is distributed in the same water of vehicle
In plane, horizontal plane is parallel to the ground；Magnetic field generation device, for generating magnetic field in space in road vehicles；Each electricity
Magnetic Sensor can generate electromotive force, and electromotive force is sent to processing module after entering variation magnetic field；Processing module is used for
The electromotive force of each electromagnetic sensor is obtained, and gained signal is handled, is sentenced according to the electromotive force of each electromagnetic sensor
The current position and direction of disconnected vehicle.By the way that electromagnetic sensor is arranged on vehicle, to obtain electromagnetic sensor in electromagnetism rail
The size of the electromotive force generated in variation magnetic field caused by road obtains each electromagnetic sensor according to the magnetic field of electromagnetic path
Potential judges the direction and position of vehicle according to the position of potential and each sensor.Contain inductance coil in electromagnetic sensor,
Inductance coil can generate constant potential in the magnetic field of alternation, can be used to monitor electromagnetism in space by the size of potential and pass
The size in the magnetic field of sensor position to judge the position of electromagnetic sensor in space, and then may determine that
The location status of automobile in space only carries out the judgement of vehicle location departing from the requirement of signal in GPS by magnetic field.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of vehicle positioning system structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the distribution schematic diagram of space magnetic field；
Fig. 3 is schematic diagram of processing module structure in a kind of vehicle positioning system provided in an embodiment of the present invention；
Fig. 4 is a kind of electromagnetic path laying structure schematic diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of vehicle location circuit connection schematic diagram provided in an embodiment of the present invention；
Fig. 6 is that there are angle schematic diagrames between a kind of vehicle and road direction provided in an embodiment of the present invention；
Fig. 7 is that a kind of process of vehicle positioning method realized based on vehicle positioning system provided in an embodiment of the present invention is shown
It is intended to；
Fig. 8 is a kind of structural schematic diagram of controller provided in an embodiment of the present invention.
Appended drawing reference:
1- magnetic field generation device；The vehicle-mounted element of 2-；3- processing module；41- orbital distance determines submodule；42- space bit
Set determining submodule；11- electromagnetic path；12- galvanomagnetic signal transmitter；
The intersection of A- electromagnetic path；B- vehicle.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
In order to clearly illustrate that the process and advantage of the present embodiment inventive method, the present invention provide a kind of vehicle location
System.
Fig. 1 is a kind of vehicle positioning system structural schematic diagram provided in an embodiment of the present invention.
Referring to Fig. 1, vehicle positioning system provided in an embodiment of the present invention, may include magnetic field generation device 1, vehicle-mounted member
Part 2 and processing module 3, vehicle-mounted element 2 include at least three electromagnetic sensor, and at least three electromagnetic sensor is distributed in the same of vehicle
On one horizontal plane, horizontal plane is parallel to the ground；Magnetic field generation device 1, for generating magnetic field in space in road vehicles；Often
A electromagnetic sensor generates electromotive force, and electromotive force is sent to processing module 3 after vehicle B enters magnetic field；Processing module
3, the current position of vehicle is judged for obtaining the electromotive force of each electromagnetic sensor, and according to the electromotive force of each electromagnetic sensor
It sets and direction.
Fig. 2 is the distribution schematic diagram of space magnetic field.Referring to Fig. 2, identifying the vehicle and space magnetic field in space plane
Distribution schematic diagram.
Specifically, in some embodiments, during a vehicle location, vehicle-mounted element is set in vehicle positioning system
2, magnetic field generation device 1 and processing module 3.Wherein, vehicle-mounted element 2 is set on vehicle, and vehicle-mounted element 2 includes at least three electricity
Magnetic Sensor is arranged 3 electromagnetic sensors and is distributed in the same level of vehicle in order to ensure locating effect, horizontal plane with
Ground is parallel, and magnetic field generation device can generate magnetic field in the space where road vehicles.Vehicle B enters field generator for magnetic
Behind generated magnetic field, inductance coil in each electromagnetic sensor can generate constant potential in the magnetic field of alternation, pass through
The size of potential can be used to monitor the size in the magnetic field of electromagnetic sensor position in space, to judge that automobile exists
Location status in space carries out the judgement of vehicle location by magnetic field departing from the requirement of signal in GPS.
Electromagnetic sensor is a kind of electromagnetic sensor for measurand being converted to induced electromotive force, also known as electromagnetic induction
Formula or electrodynamometer type electromagnetic sensor.The power generation type electromagnetic sensor designed primarily directed to measure speed gears, will be measured
The magnetic flux change inducted in conductor is converted into output signal variation.
The working principle of electromagnetic sensor are as follows: according to the law of electromagnetic induction, N circle coil moves cutting magnetic force in magnetic field
Line, coil is interior to generate induced electromotive force e.The size of e is related with the magnetic flux Φ change rate of coil is passed through.It is different by working principle,
Magnetoelectric induction electromagnetic sensor can be divided into constant flux formula and become magnetic flux type, i.e. moving coil type electromagnetic sensor and reluctance type electromagnetism
Sensor.Constant flux formula magnetoelectric induction electromagnetic sensor can be divided into moving-coil type and moving-iron type by the difference of moving component.It is dynamic
The coil of ring type magnetoelectricity electromagnetic sensor is moving component, and citation form is speed electromagnetic sensor, can directly measure linear speed
Degree or angular speed, if accessing integrating circuit or differential circuit in its measuring circuit, can also be used to measurement displacement or
Accelerate；The moving component of moving-iron type magnetoelectric induction electromagnetic sensor is iron core, can be used for the measurement of various vibrations and acceleration.
Becoming in magnetic flux type magnetoelectric induction electromagnetic sensor, coil and magnet are all stationary, and article for rotation causes magnetic resistance, flux change,
It is commonly used to the angular speed of measurement rotating object.
Optionally, in some embodiments, sh7-s10-vai model electromagnetic sensor can be selected, BA10- can also be selected
AI/I model electromagnetic sensor, can also be used the electromagnetic sensor of designed, designed, is not specifically limited herein, any to apply
In the technical scheme, and realize the technical program technical effect electromagnetic sensor, all belong to the scope of protection of the present invention.
In terms of electric signal, alternating current generates alternating magnetic field, and alternating magnetic field generates alternating potential, and alternating potential is by filtering etc.
Reason, that is, can be used for the space orientation of sensor.
Fig. 3 is schematic diagram of processing module structure in a kind of vehicle positioning system provided in an embodiment of the present invention.
Referring to Fig. 3, optional, in some embodiments, magnetic field generation device may include two parallel electromagnetic paths,
The edge of runway is corresponding where two parallel electromagnetic paths and vehicle；
Optionally, in some embodiments, processing module 3 may include: that orbital distance determines submodule 31 and spatial position
Determine submodule 32；Orbital distance determines submodule 31, for the electromotive force according to each electromagnetic sensor, determines current each
The vertical range of electromagnetic sensor and an electromagnetic path；Spatial position determines submodule 32, for being hung down according to each sensor
Straight distance determines the position and direction of vehicle in space.
Specifically, in some embodiments, it is two parallel electromagnetic paths 11 that magnetic field generation device, which can be set, and is made
The edge of runway is corresponding where electromagnetic path and vehicle.The timing really of the position and direction of vehicle in space is being carried out, it can
To determine that submodule and spatial position determine that submodule is determined by the orbital distance in processing module.
Optionally, in some embodiments, electromagnetic path 11 is laid on road surface or underground, or is suspended in vehicle up direction.At this
In embodiment, by taking electromagnetic path is set to road surface or underground as an example, it is illustrated.Specifically, it is laid with to electromagnetic path 1
During, it can choose in the present embodiment and electromagnetic path 1 be laid under road surface, can also be laid immediately on road surface；And
Under the scene using subterranean tunnel such as underground mining site, it is the top for being suspended on vehicle in tunnel that electromagnetic path 1, which can also be arranged,.
It is worth noting that herein to the set-up mode of electromagnetic path 11 only enumerate, be not limit, it is any can be in this programme
On the basis of, it realizes the set-up mode of this programme technical effect, all belongs to the scope of protection of the present invention.
Fig. 4 is a kind of electromagnetic path laying structure schematic diagram provided in an embodiment of the present invention.
Referring to Fig. 4, optional, in some embodiments, electromagnetic path 11 may include at least two track elements；Each
Track element connects；Contact portion between track element, which has, flows to opposite electric current.
For example, multiband electromagnetic path, the coincidence of electromagnetic path 11 can be selected when carrying out the laying of electromagnetic path 11
Part is A, since the current direction of intersection A is on the contrary, therefore in the electromagnetic field generated perpendicular to the track on road direction
It can cancel out each other, the positioning of electromagnetic sensor 2 will not be had an impact.Each track element is respectively provided with galvanomagnetic signal transmitter
12, it is preferable that sinusoidal signal generator can be selected in the present embodiment, galvanomagnetic signal transmitter is by sending electricity to electromagnetic path
Magnetic signal is to control the magnetic field of electromagnetic path, it is particularly possible to select multi-band signal generator, which has more
A output end can export the current signal of multiple frequency range simultaneously.When being attached, the electricity of each track element can be set
Magnetic conductance rail is connected with galvanomagnetic signal transmitter.The setting of multiband electromagnetism guide rail, can increase the reliability of system.
Further, optionally, in some embodiments, in order to increase the durability and safety of electromagnetism guide rail 1, Ke Yi
Rubber sleeve is arranged outside the conducting wire of electromagnetic path to wrap up, is wrapped up by outer layer of the rubber to wire loop.It can be simultaneously reached
Waterproof, moisture-proof, heat-insulated and high temperature-proof and other effects.Preferably, electromagnetism guide rail rubber sleeve can be selected to wrap up multi-frequency coil.
Fig. 5 is a kind of vehicle location circuit connection schematic diagram provided in an embodiment of the present invention.
Referring to Fig. 5, Fig. 5 example connection schematic diagram of sensor.Wherein, including 1 OPA2350 amplifier, respectively
U1 and U2, amplifies signal, and U1 and U2 are separately connected sensor, for this sentences U1, is illustrated.OPA2350 amplifier
U1 may include 8 pins, and being respectively as follows: pin 0 is OUT1 pin, and pin 1 is In1- pin, and pin 2 is In1+ pin, pin
3 be GND pin, and pin 4 is 5V input pin, and pin 5 is OUT2 pin, and pin 6 is In2- pin, and pin 7 draws for In2+
Foot.It by taking A1 as an example, is illustrated, wherein the end OUT1 in A1 is connected with the OUT1 of U1, the end In1- of A1 and the In1- pin of U1
It is connected, A1 is specifically included: capacitor C1, capacitor C2, variable resistance R1, variable resistance R2, variable resistance R4, diode D1 and two poles
Pipe D2.Specific connection relationship is refering to Fig. 5, wherein capacitor C1 and capacitor C2 is preferably 100NF, and variable resistance R1 is preferably 100K
Ohm, variable resistance R2 and R3 are preferably 1K ohm, and diode D1 and D2 are preferably Xiao Jite diode.A2 and A3 and U1, U2
Connection type it is similar with the connection type of A1 and U1, be not repeated herein.
Referring to Fig. 5, single needle P1 may include 2 pins, and wherein pin 1 is 5V access, and pin 2 is GND ground connection.It is double
Needle P2 may include 6 pins, and wherein pin 1 can be Out1 pin, and pin 3 is Out2 pin, and pin 5 is Out3 pin,
Pin 2, pin 4 and pin 6 are grounded respectively.Double-row needle P3 may include 6 pins, wherein pin 1 is In1+ pin, pin 3
For In2+ pin, pin 5 is In3+ pin.Preferably, P1 selects Header Vcc/GND, P2 to select Header 3X2, P3 choosing
With Header In.
There are an OPA2350,1 OPA2350 that can correspond to two inductance in each electromagnetic sensor, in the present embodiment,
One electromagnetic sensor can be integrated in one unit in module, in order to install and use.
Preferably, in the present embodiment, uniaxial inductance can be used, inductance coil is upward perpendicular to road surface.
On the basis of Fig. 5,4 sensors can also be arranged in the embodiment of the present invention, and setting principle and Fig. 5 are identical, herein
It repeats no more.
Inductance coil in electromagnetic sensor is (LC is in parallel) in parallel with capacitor, forms shunt-resonant circuit, LC parallel connection concussion
Circuit can generate high resistance to a certain frequency, to have the function that a certain frequency circuit of selection, and obtain electromotive force, obtained electricity
Kinetic potential obtains the electromotive force that the electromagnetic field in space at certain point generates in inductance coil by filter circuit and amplifying circuit
Size.
Fig. 6 is that there are angle schematic diagrames between a kind of vehicle and road direction provided in an embodiment of the present invention.Please refer to figure
6, vehicle B is travelled on electromagnetism guide rail 11, in the present embodiment, can be respectively set electromagnetic sensor 2 in the quadrangle of vehicle B, and four
A electromagnetic sensor 2 constitutes rectangular configuration in the horizontal plane.Processing module spatial position determines that submodule is passed according to each electromagnetism
The position of space constraint relationship and each electromagnetic sensor between sensor, obtains the position and direction of vehicle.It is worth saying
It is bright, the number of electromagnetic sensor and its structure in the plane are only enumerated in this implementation, they are not to limit, and it can also be with
Three electromagnetic sensors are set so that three electromagnetic sensors structure triangular in shape in the horizontal plane, can also as needed into
Row setting.
In a specific embodiment, the galvanomagnetic signal transmitter 12 on electromagnetic path 11 is opened, and vehicle B is in electromagnetism rail
Automatic Pilot on road 1, electromagnetic path 1 generate the magnetic field of alternation in space, are installed in the electromagnetic sensor 2 on vehicle B
Inductance coil receives the magnetic field of the generation of electromagnetic path 1, so that electromotive force is generated, after electromotive force is by the circuit amplification in Fig. 5
It exports, in entering signal acquisition device, collected signal is input in processing module and handles by signal pickup assembly, place
Reason module receives magnetic field strength a, and according to built-in calculation method, calculates separately out each electromagnetic sensor in vehicle driving
Position on road, that is, electromagnetic path transverse direction；By the position of four groups of electromagnetic sensors of analysis horizontally, vehicle is judged
Location status of the B on road direction, location status includes position and state.
In the present embodiment, occurred so that 4 electromagnetic sensors, galvanomagnetic signal transmitter are arranged on vehicle B as sinusoidal signal
For device, it is illustrated.
Because galvanomagnetic signal transmitter is sinusoidal signal generator, the electric current in electromagnetism guide rail are as follows:
I=I0Sin ω t,
Wherein, I is the alternating current instantaneous value connected in electromagnetism guide rail, IOFor current maxima, ω is angular frequency, and t is
Time.
The magnetic field that electromagnetism guide rail generates in space:
The calculation formula for the potential that electromagnetic sensor generates at that different location in space:
It is due to calculating the electromotive force generated at the magnetic field and calculating magnetic field that electromagnetism guide rail generates in space according to electric current
It can speculate and obtain, therefore, explanation be repeated no more to the parameter of B and ε 1 herein.
After vehicle B runs are on electromagnetic path 11, the magnetic field that each electromagnetic sensor senses that electromagnetic path generates is strong
Degree, and exports induced electromotive force, for example, the electromotive force that 4 electromagnetic sensors generate is after amplifying circuit, respectively to processing mould
The electromotive force numerical value that block is sent is a1, a2, a3 and a4.By analyzing 4 electromotive force numerical value, available each electromagnetism
The size in the corresponding magnetic field of sensor position, and according to the changing rule in magnetic field, since magnetic field is distributed in space
The distribution for being similar to quadratic function formula is presented in space, therefore each magnetic field strength may be corresponded in space there are two position,
So as to determine vertical range d1, d2, d3 and d4 of each electromagnetic sensor position Yu electromagnetism guide rail one edge.
Wherein, 4 electromagnetic sensors are in distributed rectangular in the horizontal plane, and electromagnetic sensor is according to clockwise point of rectangle
Cloth, available: the first electromagnetic sensor corresponds to electromotive force a1, and the vertical range with electromagnetism guide rail one edge is d1；
Second electromagnetic sensor corresponds to electromotive force a2, and the vertical range with electromagnetism guide rail one edge is d2；Third electromagnetic sensing
Device corresponds to electromotive force a3, and the vertical range with electromagnetism guide rail one edge is d3；4th electromagnetic sensor corresponds to electronic
Gesture a4, the vertical range with electromagnetism guide rail one edge are d4.Since the positional relationship of 4 sensors is rectangle, lead to
Cross the analysis to the position constraint relationship between d1, d2, d3 and d4 and 4 sensors, available position and side to vehicle B
To.
In the present embodiment, processing module can select single-chip microcontroller, can be the single-chip microcontroller of STC series, be also possible to it
The single-chip microcontroller of his model, single-chip microcontroller are the very mature prior art, do not do and specifically repeat herein.
Further, in a specific implementation process, some actual data can also be first acquired, then use machine
The method of device study to carry out Function Fitting to the curve of real data.
Vehicle positioning system provided in an embodiment of the present invention, including vehicle-mounted element, magnetic field generation device and processing module, vehicle
Carrying element includes at least three electromagnetic sensor, and at least three electromagnetic sensor is distributed in the same level of vehicle, horizontal plane
It is parallel to the ground；Magnetic field generation device, for generating magnetic field in space in road vehicles；Each electromagnetic sensor, in vehicle
After entering magnetic field, electromotive force is generated, and electromotive force is sent to processing module；Processing module is passed for obtaining each electromagnetism
The electromotive force of sensor, and the current position and direction of vehicle are judged according to the electromotive force of each electromagnetic sensor.By in vehicle
Upper setting electromagnetic sensor, so that the potential that electromagnetic sensor generates in the variation magnetic field produced by electromagnetic path is obtained, according to
The magnetic field of electromagnetic path obtains the potential of each electromagnetic sensor, may determine that the position of each sensor in sky according to potential
Between position in magnetic field, the direction and position of vehicle in space are judged according to the position of each sensor.Electromagnetic sensor
In contain inductance coil, inductance coil can generate the potential of variation in the magnetic field of alternation, can be used by the size of potential
The size in the magnetic field of electromagnetic sensor position in space is monitored, to judge that electromagnetic sensor is locating in space
Position, pass through the position of each electromagnetic sensor in space, it can be determined that go out the location status of automobile in space, can be with
The judgement that vehicle location is carried out by magnetic field gets rid of requirement of the bus location to GPS signal.
Further, optionally, in some embodiments, the alternation of multiple frequency range can be connected in space in electromagnetic path 11
There is electromagnetic sensor at electric current, four angles of automatic driving vehicle, there is the electromagnetism corresponding to each frequency range in every group of sensor
Sensor.(each electromagnetic sensor only corresponds to a frequency range, shunt-resonant circuit) electromagnetic sensor group can be generated by inside
The size of electromotive force judge the intensity in the magnetic field in space, and then the data of comprehensive multiple groups sensor, available every group
The position of sensor in space, and then the location status of available automobile in space.If with the sensing on four angles
Device is one group, and multiple groups can be set, and to embody multiband, each frequency range can correspond to one group of sensor, can increase in this way and be
The stability of system, if certain group sensor is broken, also other groups can continue on for positioning or the guide rail of a certain frequency range occurs
Failure can continue to provide positioning there are also the guide rail of other frequency ranges.
Further, optionally, in some embodiments, in order to be adapted with the above system embodiment, the present invention also provides
Another embodiment.
Fig. 7 is that a kind of process of vehicle positioning method realized based on vehicle positioning system provided in an embodiment of the present invention is shown
It is intended to.
Fig. 7 is please referred to, the method for the embodiment of the present invention may comprise steps of:
S71, the electromotive force that each electromagnetic sensor generates in space magnetic field on vehicle is obtained；
S72, the current position and direction of vehicle are judged according to the electromotive force of each electromagnetic sensor.
Step in above method embodiment and the device applied in step, in the above system embodiment into
Row explanation, is not repeated herein.
Vehicle positioning method provided in an embodiment of the present invention, by the way that electromagnetic sensor is arranged on vehicle, to obtain electricity
Interaction data between Magnetic Sensor and electromagnetic path obtains the potential of each electromagnetic sensor according to the magnetic field of electromagnetic path,
The direction and position of vehicle are judged according to the position of potential and each sensor.Contain inductance coil, inductance in electromagnetic sensor
Coil can generate constant potential in the magnetic field of alternation, can be used to monitor electromagnetic sensor in space by the size of potential
The size in the magnetic field of position is wanted departing from signal in GPS to judge the location status of automobile in space
It asks, the judgement of vehicle location is carried out by magnetic field.
Further, optionally, in some embodiments, judge that vehicle is current according to the electromotive force of each electromagnetic sensor
Position and direction can be realized through but not limited to following procedure:
According to the electromotive force of each electromagnetic sensor, determine that current each electromagnetic sensor is vertical with electromagnetic path
Distance；
According to vertical range, the position and direction of vehicle in space are determined.
Step in above method embodiment and the device applied in step, in the above system embodiment into
Row explanation, is not repeated herein.
Further, the embodiment of the present invention also provides a kind of controller.
Fig. 8 is a kind of structural schematic diagram of controller provided in an embodiment of the present invention.
Referring to Fig. 8, a kind of controller provided in an embodiment of the present invention, including memory 81 and processor 82, memory
For storing computer program, processor is for executing computer program, to realize that the vehicle that any of the above-described embodiment is recorded is fixed
Position method.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of vehicle positioning system characterized by comprising vehicle-mounted element, magnetic field generation device and processing module, the vehicle
Carrying element includes at least three electromagnetic sensor, and at least three electromagnetic sensor is distributed in the same level of vehicle, institute
It is parallel to the ground to state horizontal plane；
The magnetic field generation device, for generating changing magnetic field in space in vehicle；
Each electromagnetic sensor generates electromotive force, and the electromotive force is sent to institute after vehicle enters the magnetic field
State processing module；
The processing module is passed for obtaining the electromotive force of each electromagnetic sensor, and according to each electromagnetism
The electromotive force of sensor judges the current position and direction of the vehicle.
2. system according to claim 1, which is characterized in that the magnetic field generation device includes two parallel electromagnetism rails
The edge of runway is corresponding where road, two parallel electromagnetic paths and the vehicle；The electromagnetic path is laid on road
Face or underground, or it is suspended in vehicle up direction.
3. system according to claim 2, which is characterized in that the magnetic field generation device includes: galvanomagnetic signal transmitter；
The galvanomagnetic signal transmitter is connected with the electromagnetic path, and the galvanomagnetic signal transmitter to the electromagnetic path by exporting
Alternating current in the space where the electromagnetic path so that generate the magnetic field.
4. system according to claim 2, which is characterized in that the electromagnetic path includes at least two track elements；Often
A track element connects；Contact portion between the track element, which has, flows to opposite electric current.
5. system according to claim 4, which is characterized in that electromagnetic signal is respectively set in each track element
The both ends of device, each track element connect the signal output end and signal receiving end of the galvanomagnetic signal transmitter.
6. system according to claim 5, which is characterized in that the galvanomagnetic signal transmitter is sinusoidal signal generator.
7. -6 any system according to claim 1, which is characterized in that the electromagnetic path is multiband electromagnetism guide rail；
It is wrapped up outside the conducting wire of the multiband electromagnetic path using rubber sleeve.
8. a kind of vehicle positioning method realized based on vehicle positioning system described in claim 1-5 any claim, special
Sign is, comprising:
Obtain the electromotive force that each electromagnetic sensor generates in space magnetic field on vehicle；
The current position and direction of the vehicle are judged according to the electromotive force of each electromagnetic sensor.
9. according to the method described in claim 8, it is characterized in that, described according to the described electronic of each electromagnetic sensor
Gesture judges that the current position and direction of the vehicle include:
According to the electromotive force of each electromagnetic sensor, current each electromagnetic sensor and an electricity are determined
The vertical range of magnetic orbital；
According to the vertical range, the position and direction of the vehicle in space are determined.
10. a kind of controller, which is characterized in that including memory and processor, the memory is used to store computer program,
The processor is for executing the computer program, to realize the described in any item vehicle positioning methods of claim 8-9.
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