CN110794438A - Intelligent trailer method based on AGPS positioning system - Google Patents

Intelligent trailer method based on AGPS positioning system Download PDF

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Publication number
CN110794438A
CN110794438A CN201911081477.6A CN201911081477A CN110794438A CN 110794438 A CN110794438 A CN 110794438A CN 201911081477 A CN201911081477 A CN 201911081477A CN 110794438 A CN110794438 A CN 110794438A
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positioning system
position information
agps
information
acquiring
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翟世臣
张承云
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Anhui Institute of Information Engineering
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Anhui Institute of Information Engineering
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to an intelligent trailer method based on an AGPS positioning system, which comprises the following steps: acquiring position information through a GPS (global positioning system); acquiring location information by a cellular base station; and acquiring accurate position information through an AGPS positioning system. According to the invention, the GPS system and the cellular base station system are combined with each other through an AGPS technology, and the accurate position is sent by utilizing the cellular network data transmission function and the data processing of the cloud platform, so that the accurate positioning of an accident or a fault car is effectively provided for the first time, and the accurate position information can be sent to a trailer and a rescue department. The rescue time of the accident is increased, the rescue department can accurately position the accident, off-line rescue and on-line users and trailer drivers are convenient to use, and positioning errors are reduced.

Description

Intelligent trailer method based on AGPS positioning system
Technical Field
The invention relates to the technical field of position positioning, in particular to an intelligent trailer method based on an AGPS positioning system.
Background
In the prior art, various travel software is developed for mainstream Based on Location Based Service (LBS), but when a traffic accident occurs, an accident vehicle or a fault vehicle cannot be accurately positioned in time, and many accident vehicles cannot be rescued in time, so that secondary or even more serious accidents are caused. In the automobile repair industry, when the automobile on the highway breaks down, the trailer can not enter because the trailer industry is mostly a large container type trailer; and most car repair shops are operated under a single line.
The positioning initial time of the positioning system which is commonly used at present is long, and the implementation shows that the first positioning time of the autonomous cold start of the conventional GPS receiver needs about 1 minute, and the positioning can not be carried out under the condition of weak signals such as urban canyons and the like. In addition, the traditional TOA positioning is a positioning technology based on a reverse link, the position of a mobile user is determined by measuring the propagation time of a mobile phone signal reaching a plurality of base stations, the technology only needs 3 or more base stations to receive the mobile phone signal, the position of the mobile phone can be calculated by using a triangulation positioning algorithm, but the base stations do not process the error of a receiver, so the positioning error is larger. Even if the positioning is successful, when the fault vehicle enters the road to rescue the accident vehicle, if the accident site is in a place with dense population, dense vehicles and remote area, the rescue work is difficult to a certain extent.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an intelligent trailer method based on an AGPS positioning system.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
an intelligent trailer method based on an AGPS positioning system comprises the following steps:
acquiring position information through a GPS (global positioning system);
acquiring location information by a cellular base station;
and acquiring accurate position information through an AGPS positioning system.
Further, in order to better implement the present invention, the step of acquiring the location information by the GPS positioning system specifically includes: after the user sends a position signal requesting positioning, the satellite searches for a position through the signal and returns position data to the user.
Further, in order to better implement the present invention, the step of obtaining the location information by the cellular base station specifically includes: after the user sends the position information of the positioning request, the cellular base station of the area where the user is located obtains the position information and returns the position data to the user through the cellular network.
Further, in order to better implement the present invention, the step of obtaining the precise location information by the AGPS positioning system includes:
acquiring accurate position information through an AGPS positioning system;
acquiring relevant information of a service cell where a user is located and an adjacent cell;
transmitting the cell information to a Google location Server to acquire the longitude and latitude of the corresponding cell through an HTTP (hyper text transport protocol) of a mobile phone;
converting the RSSI value into a corresponding distance according to a radio propagation path loss theory;
converting the information source distance into longitude and latitude;
finding out three groups of data with relatively high credibility;
and obtaining the current position information of the mobile phone by utilizing a triangular centroid algorithm.
Further, for better implementation of the present invention, the radio propagation path loss includes a free space propagation model, a logarithmic distance path loss model, a hart model, and a logarithmic-normal distribution model.
Further, to better implement the present invention, the free space propagation model is:
Loss＝32.44+10klog10d+10klog10f (1)
wherein d is the distance between the base station and the information source and the unit is km; f is the transmission frequency in MHz; k is the path attenuation factor.
Further, for better implementing the present invention, the log-normal distribution model is:
PL(d)＝PL(d0)+10klog(d/d0)+Xσ(2)
wherein XσIs a gaussian distribution random variable with an average value of 0.
Furthermore, in order to better implement the present invention, the step of obtaining the current location information of the mobile phone by using the triangular centroid algorithm includes: taking the distance of the obtained three groups of data with higher reliability as a radius to make a circle, calculating coordinates of three characteristic points of an overlapping area of the three circles, taking the three points as vertexes of the triangle, and taking the centroid of the triangle as an unknown point; and converting the kilometers into longitude and latitude according to the calculated kilometers of the coordinates of the unknown point relative to the origin to obtain accurate position information of the user.
Compared with the prior art, the invention has the beneficial effects that:
the traditional GPS generally needs 2-5 minutes for first positioning, and is generally influenced by the positioning environment, for example, the satellite signals are seriously obstructed by high-rise forests, and the GPS signals are difficult to receive indoors due to the shielding effect of walls. The time for AGPS to start first positioning only needs 3-5 seconds as soon as possible, which is the greatest advantage compared with the traditional GPS. AGPS is to use the position information provided by the mobile cellular base station, and the cellular base station positioning is to use the distance measurement of the base station to the mobile phone to determine the position of the mobile phone, so as to help the GPS chip device built in the body to quickly position.
According to the invention, the GPS system and the cellular base station system are combined with each other through an AGPS technology, and the accurate position is sent by utilizing the cellular network data transmission function and the data processing of the cloud platform, so that the accurate positioning of an accident or a fault car is effectively provided for the first time, and the accurate position information can be sent to a trailer and a rescue department. The rescue time of the accident is increased, the rescue department can accurately position the accident, off-line rescue and on-line users and trailer drivers are convenient to use, and positioning errors are reduced.
The invention improves the positioning algorithm, solves the problem that under the condition of weak signal strength, OTDOA and AFLT use GPS to position all base stations, new positioning entities and positioning centers need to be added in the network, and the position of the mobile station is calculated by utilizing pilot frequency information.
According to the invention, an emergency monitoring platform and an emergency dispatching platform of an organ commanding hall are combined, and the information sent by the user needing rescue is fed back to the emergency dispatching platform in time through the calculation of the cloud computing platform, so that the rescue dispatching command is made.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a platform of the AGPS based positioning system according to the present invention;
FIG. 2 is a schematic flow chart of the present invention using an online platform;
FIG. 3 is a schematic diagram of an unknown point obtained after a conventional simulation according to the present invention;
FIG. 4 is a schematic diagram of an unknown point obtained by the triangular centroid algorithm of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Also, in the description of the present invention, the terms "first", "second", and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or implying any actual relationship or order between such entities or operations.
Example 1:
the invention is realized by the following technical scheme, as shown in fig. 1, an intelligent trailer method based on an AGPS positioning system is provided, an accurate positioning system is realized by using an APSG technology, a GPS technology and data transmission calculation of a cellular base station, and the method is applied to a trailer platform. The method comprises the following steps:
step S100: and acquiring the position information through a GPS positioning system.
After the user sends a position signal requesting positioning, the satellite searches for a position through the signal and returns position data to the user.
Step S200: location information is obtained by the cellular base station.
After the user sends the location information of the location request, the cellular base station of the cell or town where the user is located obtains the location information and returns the location data to the user through the cellular network.
Step S300: and acquiring accurate position information through an AGPS positioning system.
The AGPS positioning system needs to calculate and obtain accurate location information of the user by combining location information obtained by the SGP positioning system and the cellular base station, and step S300 specifically includes the following steps:
step S310: and acquiring the relevant information of the serving cell and the adjacent cell where the user is located.
Due to the difference of mobile phone platforms, the called protocol stack functions are different, but the following data need to be obtained: cell ID number (CellID); a mobile network number (mnc) for identifying a mobile network to which the user belongs; a mobile country number (mcc) for uniquely identifying a country to which the mobile user belongs; a location area code (lac) for identifying different location areas; a Received Signal Strength Indication (RSSI).
According to the requirement of the triangular algorithm, at least 3 groups of cell information are required, and the trailer platform of the invention adopts a spread spectrum platform which can obtain 6 groups of cell information, so that data with higher credibility can be provided.
Step S320: transmitting the cell information to a Google GelocationServer through an HTTP protocol of a mobile phone to acquire the longitude and latitude of a corresponding cell;
step S330: and converting the RSSI value into a corresponding distance according to a radio propagation path loss theory.
Common propagation path losses include free space propagation models, logarithmic range path loss models, hart models, logarithmic-normal distribution models, and the like. The invention takes a free space propagation model and a logarithm-normal distribution model as examples, and the free space propagation path loss model of the radio is as follows:
Loss＝32.44+10klog10d+10klog10f (1)
d in the formula (1) is the distance between the base station and the information source, and the unit is km; f is the transmission frequency in MHz; k is the path attenuation factor.
Other models simulate real-world environments, but are somewhat different from them. For example, in a log-normal distribution model, the path loss is calculated by the following formula:
PL(d)＝PL(d0)+10klog(d/d0)+Xσ(2)
x in the formula (2)σIs a Gaussian distribution random variable with an average value of 0 and has a standard deviation range of 4-10; the attenuation factor k ranges from 2 to 5.
If d is 1, the values of Loss and pl (d) are obtained, and the signal strength of the source is obtained according to equations (1) and (2):
RSSI ═ transmission power (Pt) + antenna gain (Pf) -path loss (pl (d))
According to the above theoretical formula, a relation formula of the distance d and the RSSI is calculated:
D＝10*[(Pt+Pf-RSSI-PL(d0)-X0)/(10*K)]
PL(d0)＝32.44+10*K*log10(f)
calculating PL (d) according to the transmitting frequency f0) Let A be Pt + Pf-X0Then a is a constant and the formula for distance D translates to:
D＝10*[(A-PL(d0))/(10*K)]
step S340: and converting the information source distance into longitude and latitude.
The latitude and longitude information unit is different from the distance unit calculated by the RSSI, so that the calculation cannot be directly carried out, and the conversion into a uniform unit is needed. The method comprises the steps of firstly finding out a point closest to a target as a reference point, namely an original point of coordinates, converting relative longitude and latitude difference values of other points by referring to the original points, and converting the difference values into kilometers according to the relation between scales and actual distances to obtain coordinate values of the other points relative to the original points, wherein the unit is also unified into kilometers.
The total meridian length of the earth is about 40008km, then latitude 1 ≈ 111km, latitude 1' ≈ 1.85km, and latitude 1 ≈ 30.9 m. The radius of the earth is approximately 6378.137km, and the longitude versus distance is then scaled to longitude 1 ° ≈ 2 × pi × 6378.137 × cos (current latitude) km.
Step S350: and finding out three groups of data with relatively high credibility.
The farther the distance is, the larger the error calculated from the RSSI becomes, and therefore, the data with the highest reliability is selected as the data with the smallest distance.
Step S360: and obtaining the current position information of the mobile phone by utilizing a triangular centroid algorithm.
And taking the distances of the three groups of data as radii to make a circle, calculating coordinates of 3 characteristic points of the overlapping area of the three circles, taking the three points as the vertexes of the triangle, and taking the unknown points as the centroid of the triangle. And converting the kilometers into longitudes and latitudes according to the calculated kilometers of the coordinates of the unknown points relative to the original point, and then adding the longitudes and latitudes of the original point to obtain accurate position information of the mobile phone.
As shown in fig. 3, assuming that the obtained three sets of nodes are A, B, C and the unknown point is D, the distance between nodes a and D is calculated as r according to RSSIADistance between nodes B and D is rBSection (C)The distance between points C and D is rC. Respectively taking A, B, C as the center of a circle, rA、rB、rCThe overlap region can be obtained by drawing a circle for the radius. The basic idea of the triangle centroid localization algorithm here is: and (3) calculating coordinates of 3 characteristic points of the three-circle overlapped area, taking the three points as the vertexes of the triangle, and taking the unknown point as the centroid of the triangle. As shown in fig. 4, if the feature point is E, F, G, the calculation formula of the feature point E is
Similarly, F, G points can be calculated, and the coordinates of the unknown points are
Figure BDA0002264102120000082
If the conventional simulation method is used, the D points shown in fig. 3 are obtained, or the unknown points calculated by the conventional three-pass measurement method are the N points shown in fig. 4, but the unknown points calculated by the triangle centroid algorithm of the present invention are the M points shown in fig. 4.
As shown in fig. 2, in actual use, a user can select three services online: trailer service, car repair service, rescue service, wherein trailer service includes a malfunctioning car or an accident car. When the vehicle has faults in the road, such as empty oil, flat tires, broken automobiles and the like, a user sends positioning to a trailer driver on the cloud computing platform, and then vehicle repairing business can be selected or the vehicle can be sent to a designated place. The vehicle repair, maintenance and related problems can be reserved in advance on line on the cloud computing platform.
In addition, as shown in fig. 1, the system can also combine a traffic flow platform of a hall commanded by an organization for real-time detection of towns and cities, transmit information data to a mobile information server, and feed back user conditions in real time by a rescue platform with an emergency monitoring platform and an emergency dispatching platform. When a user sends a rescue positioning signal, the AGPS signal is transmitted to the base station through the cloud computing platform and then transmitted to an emergency dispatching platform of an organ commanding hall through the mobile information server for emergency treatment. And user information can be directly fed back to the emergency platform to request assistance processing by accessing an intelligent robot AI line.
The traditional GPS generally needs 2-5 minutes for first positioning, and is generally influenced by the positioning environment, for example, the satellite signals are seriously obstructed by high-rise forests, and the GPS signals are difficult to receive indoors due to the shielding effect of walls. The time for AGPS to start first positioning only needs 3-5 seconds as soon as possible, which is the greatest advantage compared with the traditional GPS. AGPS is to use the position information provided by the mobile cellular base station, and the cellular base station positioning is to use the distance measurement of the base station to the mobile phone to determine the position of the mobile phone, so as to help the GPS chip device built in the body to quickly position.
According to the invention, the GPS system and the cellular base station system are combined with each other through an AGPS technology, and the accurate position is sent by utilizing the cellular network data transmission function and the data processing of the cloud platform, so that the accurate positioning of an accident or a fault car is effectively provided for the first time, and the accurate position information can be sent to a trailer and a rescue department. The rescue time of the accident is increased, the rescue department can accurately position the accident, off-line rescue and on-line users and trailer drivers are convenient to use, and positioning errors are reduced.
The invention improves the positioning algorithm, solves the problem that under the condition of weak signal strength, OTDOA and AFLT use GPS to position all base stations, new positioning entities and positioning centers need to be added in the network, and the position of the mobile station is calculated by utilizing pilot frequency information.
According to the invention, an emergency monitoring platform and an emergency dispatching platform of an organ commanding hall are combined, and the information sent by the user needing rescue is fed back to the emergency dispatching platform in time through the calculation of the cloud computing platform, so that the rescue dispatching command is made.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (8)

1. An intelligent trailer method based on an AGPS positioning system is characterized in that: the method comprises the following steps:
acquiring position information through a GPS (global positioning system);
acquiring location information by a cellular base station;
and acquiring accurate position information through an AGPS positioning system.
2. The intelligent trailer method based on the AGPS positioning system as claimed in claim 1, wherein: the step of acquiring the position information through the GPS specifically comprises the following steps: after the user sends a position signal requesting positioning, the satellite searches for a position through the signal and returns position data to the user.
3. The intelligent trailer method based on the AGPS positioning system as claimed in claim 1, wherein: the step of obtaining the location information by the cellular base station specifically includes: after the user sends the position information of the positioning request, the cellular base station of the area where the user is located obtains the position information and returns the position data to the user through the cellular network.
4. The intelligent trailer method based on the AGPS positioning system as claimed in claim 1, wherein: the step of obtaining accurate position information by an AGPS positioning system comprises:
acquiring accurate position information through an AGPS positioning system;
acquiring relevant information of a service cell where a user is located and an adjacent cell;
transmitting the cell information to a Google location Server to acquire the longitude and latitude of the corresponding cell through an HTTP (hyper text transport protocol) of a mobile phone;
converting the RSSI value into a corresponding distance according to a radio propagation path loss theory;
converting the information source distance into longitude and latitude;
finding out three groups of data with relatively high credibility;
and obtaining the current position information of the mobile phone by utilizing a triangular centroid algorithm.
5. The AGPS positioning system based intelligent trailer method as claimed in claim 4, wherein: the radio propagation path loss comprises a free space propagation model, a logarithmic distance path loss model, a Hardy model and a logarithmic-normal distribution model.
6. The AGPS positioning system based intelligent trailer method as claimed in claim 5, wherein: the free space propagation model is as follows:
Loss＝32.44+10k log10d+10k log10f (1)
wherein d is the distance between the base station and the information source and the unit is km; f is the transmission frequency in MHz; k is the path attenuation factor.
7. The AGPS positioning system based intelligent trailer method as claimed in claim 5, wherein: the log-normal distribution model is:
PL(d)＝PL(d0)+10klog(d/d0)+Xσ(2)
wherein XσIs a gaussian distribution random variable with an average value of 0.
8. The AGPS positioning system based intelligent trailer method as claimed in claim 4, wherein: the step of obtaining the current position information of the mobile phone by utilizing the triangular centroid algorithm comprises the following steps: taking the distance of the obtained three groups of data with higher reliability as a radius to make a circle, calculating coordinates of three characteristic points of an overlapping area of the three circles, taking the three points as vertexes of the triangle, and taking the centroid of the triangle as an unknown point; and converting the kilometers into longitude and latitude according to the calculated kilometers of the coordinates of the unknown point relative to the origin to obtain accurate position information of the user.
CN201911081477.6A 2019-11-07 2019-11-07 Intelligent trailer method based on AGPS positioning system Pending CN110794438A (en)

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