CN110570686B - Anti-interference parking detection method and system based on geomagnetic sensor - Google Patents
Anti-interference parking detection method and system based on geomagnetic sensor Download PDFInfo
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Abstract
The invention relates to the technical field of parking detection, and provides an anti-interference intelligent parking space lock parking detection method based on a geomagnetic sensor, which comprises the following steps of: acquiring a geomagnetic signal by using a geomagnetic sensor and preprocessing the geomagnetic signal; performing interference detection and filtering on the preprocessed geomagnetic signals, and judging whether the geomagnetic signals collected at the current moment are vehicle signals or not; carrying out parking space state judgment on the geomagnetic signal subjected to interference detection and filtering according to a state machine mechanism; and sending the parking space state judgment result to a server through a router and a base station in sequence, and then sending the parking space state judgment result to a user terminal through the server. The invention also provides an anti-interference intelligent parking spot lock parking detection system based on the geomagnetic sensor, which applies the method. The parking space state error judgment method can effectively solve the problem that the parking space state error judgment is easily caused by magnetic field interference generated in the locking and locking process of the parking space lock, and effectively improves the parking detection accuracy.
Description
Technical Field
The invention relates to the technical field of parking detection, in particular to an anti-interference parking detection method and system based on a geomagnetic sensor.
Background
Among the numerous traffic problems, the problems of traffic jam in the central area of a city and roadside parking are particularly prominent, and a method utilizing resource sharing is an idea for relieving the problem of difficulty in parking in the city. At present, the method applied to intelligent parking space management can realize parking space sharing, reservation and automatic charging based on an intelligent parking space lock, an APP and a service system, wherein the intelligent parking space lock monitors the idle or occupied state of a parking space in real time through a built-in geomagnetic sensor, the parking space state is sent to a user APP for the reference of the user, or the parking space state is sent to the service system to execute charging or settlement operation, and a charging or settlement result is sent to the user APP, so that the parking space resource is reasonably utilized and distributed.
At present, parking detection based on a geomagnetic sensor has been researched more at home and abroad, but the existing parking detection algorithm does not consider that the locking and locking processes of a parking space lock can generate magnetic interference signals, namely, in the process of intelligent parking space vehicle identification, the locking and locking processes of the parking space lock can generate magnetic field interference, the waveforms of the interference are similar to the waveforms of geomagnetic disturbance of vehicle driving, the parking space lock interference signals are easily judged as vehicle signals by mistake, and the judgment of whether vehicles exist in parking spaces is influenced.
Disclosure of Invention
The invention provides an anti-interference parking detection method based on a geomagnetic sensor and an anti-interference parking detection system based on the geomagnetic sensor, aiming at overcoming the defect that the state of a parking space is misjudged easily due to magnetic field interference generated in the locking and unlocking processes of a parking space lock in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the anti-interference parking detection method based on the geomagnetic sensor comprises the following steps:
s1: acquiring a geomagnetic signal by using a geomagnetic sensor and preprocessing the geomagnetic signal;
s2: performing interference detection and filtering on the preprocessed geomagnetic signals, and judging whether the geomagnetic signals collected at the current moment are vehicle signals or not;
s3: carrying out parking space state judgment on the geomagnetic signal subjected to interference detection and filtering according to a state machine mechanism;
s4: and sending the parking space state judgment result to a server through a router and a base station in sequence, and then sending the parking space state judgment result to a user terminal through the server.
In the technical scheme, the geomagnetic sensor is used for collecting geomagnetic signals at a certain sampling frequency f, the geomagnetic signals are processed and judged to obtain parking space state judgment results, the parking space state judgment results are transmitted to the server through the router and the base station, and the user terminal can send a request to the server to acquire current parking space state information. Wherein, in processing and judging the in-process to earth magnetic signal, carry out the preliminary treatment earlier to earth magnetic signal, restrain the interfering signal that parking stall lock self produced, then further carry out interference detection and filtration to the earth magnetic signal through the preliminary treatment, judge earth magnetic signal promptly and be vehicle signal or for interfering signal, do not do any processing when earth magnetic signal is interfering signal, when earth magnetic signal is vehicle signal, further carry out parking stall state to it according to the state machine mechanism and judge to obtain the higher parking stall state decision result of the degree of accuracy.
Preferably, in step S1, the geomagnetic signal M collected by the geomagnetic sensors(t) comprises a vehicle magnetic field signal Vs(t) geomagnetic background signal Gs(t) interference signal Ns(t), the expression formula is as follows:
Ms(t)＝Vs(t)+Gs(t)+Ns(t)
where s represents the axis number of the three-axis sensor, i.e., s ∈ { x, y, z }.
Preferably, in step S1, the micro control unit processes the geomagnetic signal Ms(t) the specific steps of carrying out the pretreatment include:
s11: the geomagnetic signals of the x axis and the z axis are fused to obtain a synthetic signal M (t), and the calculation formula is as follows:
s12: and smoothing the synthesized signal M (t) by adopting mean filtering, wherein the mean filtering formula is as follows:
wherein, A (t) represents the smoothed signal, and l is the window length of the mean filtering;
s13: performing first-order difference processing on the smoothed signal a (t), wherein a calculation formula is as follows:
G(t)＝A(t)-A(t-1)
wherein, G (t) represents the signal after the first-order difference processing, and t is more than 1; a (t) represents the signal intensity after smoothing processing at the sampling time t, and A (t-1) represents the signal intensity after smoothing processing at the last sampling time t-1;
s14: dividing the signal G (t) subjected to differential processing into a plurality of signal segments with fixed lengths according to the window length w, and converting the signal segments into variance sequences; the calculation formula of the variance sequence is as follows:
where Avg represents the mean value of the signal segment and var (t) represents the variance intensity of the signal segment.
Preferably, in the step S2, the specific step of performing interference detection and filtering on the preprocessed geomagnetic signal includes:
s21: initializing and setting a fluctuation starting time T _ start, a fluctuation ending time T _ end and a counting point k;
s22: judging whether the signal variance intensity var (T) of the current moment T is greater than a preset variance threshold H, if so, setting the current moment T as a fluctuation ending time T _ end; if not, counting the point k and adding 1;
s23: judging whether the current counting point k is larger than or equal to the sampling point number threshold value or not, and whether the difference value between the fluctuation ending time T _ end and the fluctuation starting time T _ start is larger than the vehicle sampling point number threshold value or not, if so, outputting a detection signal IF (T) equal to 0, namely judging that the geomagnetic signal at the current time T is a vehicle signal; if not, the detection signal if (t) is output as 1, that is, the geomagnetic signal at the current time t is determined to be an interference signal.
Preferably, the variance threshold H is calculated as follows:
wherein, alpha is a weight coefficient,
representing the mean of the signal variance at node initialization.
Preferably, in step S3, the parking space state of the geomagnetic signal is determined according to a state machine mechanism, and the determining process is as follows:
if the signal variance intensity var (t) at the current time t is greater than or equal to the variance threshold H, the parking space state signal car (t-1) at the previous time is judged:
if the parking space status signal car (t-1) at the previous time is 0 and the detection signal if (t) at the current time is 0, it indicates that the vehicle enters the parking space, and the parking space status signal car (t) is set to 1;
if the parking space status signal car (t-1) at the previous time is 1 and the detection signal if (t) at the current time is 0, it indicates that the vehicle has exited the parking space, and the parking space status signal car (t) is set to 0;
if the signal variance intensity var (t) at the current moment t is smaller than the variance threshold H, the vehicle state judgment result is output as the parking space free or occupied state, and the parking space state signal car (t) is kept unchanged.
The invention also provides an anti-interference parking detection system based on the geomagnetic sensor, and the anti-interference parking detection method based on the geomagnetic sensor is applied, and comprises an intelligent parking spot lock, a router, a base station and a server, wherein the intelligent parking spot lock comprises the geomagnetic sensor, a filtering module, a micro control unit, a communication module and a power supply module, the geomagnetic sensor, the filtering module, the micro control unit and the communication module are sequentially connected, and the power supply module is respectively and electrically connected with the geomagnetic sensor, the filtering module, the micro control unit and the communication module;
the intelligent parking spot locks are respectively arranged on the parking spots, and the intelligent parking spot locks detect and judge the parking spot states and then send the judgment results to the router through the communication module; the router transmits data with the base station through the multi-hop network, and the base station transmits data with the server.
Preferably, the geomagnetic sensor includes a micro sensor based on a magnetoresistance effect.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the geomagnetic signals are preprocessed, and whether the geomagnetic signals are interference signals or not is judged based on the variance sequence of the signals, so that the interference signals are filtered, the problem that the parking space state is misjudged easily due to magnetic field interference generated in the locking and unlocking processes of the parking space lock can be effectively solved, and the judgment accuracy of the parking space state is improved; through the judgment to vehicle signal and parking stall state signal, realize the parking stall state and judge, effectively strengthen the parking detection effect.
Drawings
Fig. 1 is a flowchart of an anti-jamming parking detection method based on a geomagnetic sensor in embodiment 1.
Fig. 2 is a schematic diagram of a three-axis geomagnetic signal in embodiment 1.
Fig. 3 is a schematic diagram of a three-axis geomagnetic signal in embodiment 1.
Fig. 4 is a schematic diagram of the synthesized signal in example 1.
Fig. 5 is a diagram illustrating the variance amplitude of signal segments in example 1.
Fig. 6 is a flowchart of the parking space state determination for the geomagnetic signal in embodiment 1.
Fig. 7 is a graph comparing the output results of embodiment 1 and the conventional parking detection algorithm.
Fig. 8 is a schematic structural diagram of the anti-interference parking space detection system based on the geomagnetic sensor in embodiment 2.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
Fig. 1 is a flowchart of an anti-jamming parking detection method based on a geomagnetic sensor according to this embodiment.
The embodiment provides an anti-interference parking detection method based on a geomagnetic sensor, which comprises the following steps:
s1: and acquiring a geomagnetic signal by using a geomagnetic sensor and preprocessing the geomagnetic signal.
In the present embodiment, the geomagnetic signal M collected by the geomagnetic sensors(t) comprises a vehicle magnetic field signal Vs(t) geomagnetic background signal Gs(t) interference signal Ns(t), the expression formula is as follows:
Ms(t)＝Vs(t)+Gs(t)+Ns(t)
wherein s represents an axis number of the three-axis sensor, i.e., s ∈ { x, y, z }, and t ═ 1, 2. Geomagnetic background signal Gs(t) is the signal generated by the earth's magnetic field, typically of constant value.
Fig. 2 and 3 are schematic diagrams of the triaxial geomagnetic signals of the present embodiment. It can be seen from the figure that when the parking lock is locked or unlocked, the x-axis and z-axis signals change significantly, and the y-axis changes less, so in this step, the geomagnetic signals of the x-axis and z-axis are selected to be fused to obtain the composite signal m (t).
In this step, the geomagnetic signal M is measureds(t) the specific steps of carrying out the pretreatment include:
s11: the geomagnetic signals of the x axis and the z axis are fused to obtain a synthetic signal M (t), and the calculation formula is as follows:
fig. 4 is a schematic diagram of the synthesized signal m (t) according to the present embodiment;
s12: in order to suppress the glitch signal in the synthesized signal m (t), the synthesized signal m (t) is smoothed by using a mean filtering formula as follows:
wherein, A (t) represents the smoothed signal, and l is the window length of the mean filtering;
s13: performing first-order difference processing on the smoothed signal a (t), wherein a calculation formula is as follows:
G(t)＝A(t)-A(t-1)
wherein, G (t) represents the signal after the first-order difference processing, and t is more than 1; a (t) represents the signal intensity after smoothing processing at the sampling time t, and A (t-1) represents the signal intensity after smoothing processing at the last sampling time t-1;
s14: dividing the signal G (t) subjected to differential processing into a plurality of signal segments with fixed lengths according to the window length w, and converting the signal segments into variance sequences; the calculation formula of the variance sequence is as follows:
where Avg represents the mean value of the signal segment and var (t) represents the variance intensity of the signal segment.
Fig. 5 is a schematic diagram of the variance and amplitude of the signal segment in this embodiment.
S2: the micro control unit inputs the preprocessed geomagnetic signals into the filtering module to perform interference detection and filtering, and judges whether the geomagnetic signals collected at the current moment are vehicle signals.
In this step, the specific steps of performing interference detection and filtering on the preprocessed geomagnetic signal include:
s21: initializing and setting a fluctuation starting time T _ start, a fluctuation ending time T _ end and a counting point k;
s22: judging whether the signal variance intensity var (T) of the current moment T is greater than a preset variance threshold H, if so, setting the current moment T as a fluctuation ending time T _ end; if not, counting the point k and adding 1;
s23: judging whether the current counting point k is larger than or equal to the sampling point number threshold value or not, and whether the difference value between the fluctuation ending time T _ end and the fluctuation starting time T _ start is larger than the vehicle sampling point number threshold value or not, if so, outputting a detection signal IF (T) equal to 0, namely judging that the geomagnetic signal at the current time T is a vehicle signal; if not, the detection signal if (t) is output as 1, that is, the geomagnetic signal at the current time t is determined to be an interference signal.
The calculation formula of the variance threshold H is as follows:
wherein, alpha is a weight coefficient,
representing the mean of the signal variance at node initialization.
In this embodiment, through setting for reasonable variance threshold value H and sampling point quantity threshold value, based on the variance size of vehicle signal and the duration of variance range, filter parking stall lock self interfering signal, discern vehicle earth magnetism signal simultaneously.
S3: and judging the parking space state of the geomagnetic signal subjected to interference detection and filtering processing.
Fig. 6 is a flowchart illustrating a parking space state determination performed on a geomagnetic signal in this embodiment.
In this step, it is right that earth magnetism signal carries out parking stall state and judges according to the state machine mechanism, and its decision-making process is as follows:
if the signal variance intensity var (t) at the current time t is greater than or equal to the variance threshold H, the parking space state signal car (t-1) at the previous time is judged:
if the parking space status signal car (t-1) at the previous time is 0 and the detection signal if (t) at the current time is 0, it indicates that the vehicle enters the parking space, and the parking space status signal car (t) is set to 1;
if the parking space status signal car (t-1) at the previous time is 1 and the detection signal if (t) at the current time is 0, it indicates that the vehicle has exited the parking space, and the parking space status signal car (t) is set to 0;
if the signal variance intensity var (t) at the current moment t is smaller than the variance threshold H, the vehicle state judgment result is output as the parking space free or occupied state, and the parking space state signal car (t) is kept unchanged.
In this embodiment, when the signal variance intensity var (t) is smaller than the variance threshold H, it indicates that the current geomagnetic signal is in a steady state, that is, the parking space state is an idle or occupied state, when the signal fluctuates, the signal variance intensity var (t) increases, and when the signal is greater than or equal to the difference threshold H, it indicates that the current geomagnetic signal is in a stage where the vehicle enters the parking space or the vehicle exits the parking space, so that the current parking space state can be determined according to the parking space state signal car (t-1) at the previous time.
S4: and sending the parking space state judgment result to a server through a router and a base station in sequence, and then sending the parking space state judgment result to a user terminal through the server.
In the specific implementation process, the user terminal sends a parking space state request to the server, and the server returns a parking space state judgment result to the user terminal according to the received parking space state signal, so that a parking space detection function is realized.
Fig. 7 is a graph comparing the output results of the present embodiment and the conventional parking detection algorithm. As can be seen from fig. 7, compared with the conventional parking detection algorithms ATDA and Min-Max, the anti-interference intelligent parking stall lock parking detection method based on the geomagnetic sensor provided by the embodiment has higher accuracy and better effect.
In this embodiment, adopt geomagnetic sensor to gather the earth magnetism signal with 50Hz frequency, through handling and judging the earth magnetism signal, obtain parking stall state decision result to in router, basic station conveying to the server, user terminal can send the request to the server and acquire current parking stall state information. In the process of processing and judging the geomagnetic signals, filtering interference signals sent by the parking spot locks doped in the geomagnetic signals, and judging whether the geomagnetic signals are vehicle signals or not, so that the judgment accuracy of the parking spot states is improved; the parking space state of the vehicle signal is judged according to the variance sequence and the state machine detection algorithm, and the vehicle identification effect can be effectively improved. The embodiment can be applied to parking self-service payment, parking space reservation, parking space sharing and the like.
Example 2
The embodiment provides an anti-interference parking detection system based on a geomagnetic sensor, and an anti-interference parking detection method based on a geomagnetic sensor, which is provided in application embodiment 1.
Fig. 8 is a schematic structural diagram of the anti-jamming parking detection system based on a geomagnetic sensor according to this embodiment.
Anti-interference parking detecting system based on earth magnetic sensor in this embodiment, including intelligent parking stall lock 1, router 2, basic station 3 and server 4, wherein, intelligence parking stall lock 1 includes earth magnetic sensor 11, filter module 12, little the control unit 13, communication module 14, power module 15, earth magnetic sensor 11, filter module 12, little the control unit 13, communication module 14 connects gradually, power module 15 respectively with earth magnetic sensor 11, filter module 12, little the control unit 3, communication module 14 electricity is connected.
In this embodiment, the intelligent parking spot locks 1 are respectively arranged at each parking spot, the geomagnetic sensor 11 in the intelligent parking spot locks 1 senses and acquires a geomagnetic signal of a current parking spot, and then sends the geomagnetic signal to the filtering module 12 to filter the interference signal, and then sends the geomagnetic signal to the micro control unit 13 to perform logic judgment analysis processing on the geomagnetic signal to obtain a parking spot state signal of the current moment, and then sends the parking spot state signal to the router 2 through the communication module 14; the router 2 performs data transmission with the base station 3 through a multi-hop network, and the base station 3 performs data transmission with the server 4.
In this embodiment, the geomagnetic sensor 11 includes a micro sensor based on a magnetoresistance effect, and adopts an integrated HMC5883L sensor, and the sampling frequency of the sensor is 50 Hz; the micro control unit 13 adopts an STM8L151C8 MCU; the communication module 14 adopts a Lora SX1278 module; the power supply module 15 employs a 15AH lithium battery.
In the specific implementation process, the user terminal sends a parking space state request to the server, and the server returns a parking space state judgment result to the user terminal according to the received parking space state signal, so that a parking space detection function is realized. Specifically, geomagnetic sensor 11 collects geomagnetic signals, then inputs the geomagnetic signals into filtering module 12 for preprocessing, inputs the geomagnetic signals into micro control unit 13 for interference detection and interference signal filtering, then judges whether the geomagnetic signals collected at the current moment are vehicle signals, and determines the parking space state according to a state machine detection method, and finally sends the parking space state signals to server 4 through communication module 14 in sequence via router 2 and base station 3, and sends the parking space state determination results to a user terminal through server 4, so as to realize parking space detection.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The anti-interference parking detection method based on the geomagnetic sensor is characterized by comprising the following steps of:
s1: acquiring a geomagnetic signal by using a geomagnetic sensor and preprocessing the geomagnetic signal;
s2: performing interference detection and filtering on the preprocessed geomagnetic signals, and judging whether the geomagnetic signals collected at the current moment are vehicle signals or not; the specific steps of performing interference detection and filtering on the preprocessed geomagnetic signals include:
s21: initializing and setting a fluctuation starting time T _ start, a fluctuation ending time T _ end and a counting point k;
s22: judging whether the signal variance intensity var (T) of the current moment T is greater than a preset variance threshold H, if so, setting the current moment T as a fluctuation ending moment T _ end; if not, counting the point k and adding 1;
s23: judging whether the current counting point k is larger than or equal to the sampling point number threshold value or not, and whether the difference value between the fluctuation ending time T _ end and the fluctuation starting time T _ start is larger than the vehicle sampling point number threshold value or not, if so, outputting a detection signal IF (T) equal to 0, namely judging that the geomagnetic signal at the current time T is a vehicle signal; if not, outputting a detection signal if (t) equal to 1, namely judging that the geomagnetic signal at the current time t is an interference signal;
s3: carrying out parking space state judgment on the geomagnetic signal subjected to interference detection and filtering processing;
s4: and sending the parking space state judgment result to a server through a router and a base station in sequence, and then sending the parking space state judgment result to a user terminal through the server.
2. The anti-jamming parking detection method of claim 1, wherein: in step S1, the geomagnetic signal M collected by the geomagnetic sensors(t) comprises a vehicle magnetic field signal Vs(t) geomagnetic background signal Gs(t) interference signal Ns(t), the expression formula is as follows:
Ms(t)＝Vs(t)+Gs(t)+Ns(t)
where s represents the axis number of the three-axis sensor, i.e., s ∈ { x, y, z }.
3. The anti-jamming parking detection method of claim 2, wherein: in the step S1, the geomagnetic signal Ms(t) the specific steps of carrying out the pretreatment include:
s11: the geomagnetic signals of the x axis and the z axis are fused to obtain a synthetic signal M (t), and the calculation formula is as follows:
s12: and smoothing the synthesized signal M (t) by adopting mean filtering, wherein the mean filtering formula is as follows:
wherein, A (t) represents the smoothed signal, and l is the window length of the mean filtering;
s13: performing first-order difference processing on the smoothed signal a (t), wherein a calculation formula is as follows:
G(t)＝A(t)-A(t-1)
wherein, G (t) represents the signal after the first-order difference processing, and t is more than 1; a (t) represents the signal intensity after smoothing processing at the sampling time t, and A (t-1) represents the signal intensity after smoothing processing at the last sampling time t-1;
s14: dividing the signal G (t) subjected to differential processing into a plurality of signal segments with fixed lengths according to the window length w, and converting the signal segments into variance sequences; the calculation formula of the variance sequence is as follows:
where Avg represents the mean value of the signal segment and var (t) represents the variance intensity of the signal segment.
4. The anti-jamming parking detection method of claim 1, wherein: the calculation formula of the variance threshold H is as follows:
wherein, alpha is a weight coefficient,
representing the mean of the signal variance at node initialization.
5. The anti-jamming parking detection method of claim 4, wherein: in the step S3, the parking space state of the geomagnetic signal is determined according to a state machine mechanism, and the determination process is as follows:
if the signal variance intensity var (t) at the current time t is greater than or equal to the variance threshold H, the parking space state signal car (t-1) at the previous time is judged:
if the parking space status signal car (t-1) at the previous time is 0 and the detection signal if (t) at the current time is 0, it indicates that the vehicle enters the parking space, and the parking space status signal car (t) is set to 1;
if the parking space status signal car (t-1) at the previous time is 1 and the detection signal if (t) at the current time is 0, it indicates that the vehicle has exited the parking space, and the parking space status signal car (t) is set to 0;
if the signal variance intensity var (t) at the current moment t is smaller than the variance threshold H, the vehicle state judgment result is output as the parking space free or occupied state, and the parking space state signal car (t) is kept unchanged.
6. The anti-interference parking detection system based on the geomagnetic sensor is applied to the anti-interference parking detection method according to any one of claims 1 to 5, and is characterized by comprising an intelligent parking spot lock, a router, a base station and a server, wherein the intelligent parking spot lock comprises the geomagnetic sensor, a filtering module, a micro control unit, a communication module and a power supply module, the geomagnetic sensor, the filtering module, the micro control unit and the communication module are sequentially connected, and the power supply module is respectively and electrically connected with the geomagnetic sensor, the filtering module, the micro control unit and the communication module;
the intelligent parking spot locks are respectively arranged on the parking spots, and the intelligent parking spot locks detect and judge the parking spot states and then send the judgment results to the router through the communication module; the router transmits data with a base station through a multi-hop network, and the base station transmits data with a server.
7. The anti-tamper parking detection system of claim 6, wherein: the geomagnetic sensor includes a micro sensor based on a magnetoresistance effect.
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