CN111123334A - Multi-vehicle cooperative positioning platform and positioning method under limit working condition - Google Patents

Multi-vehicle cooperative positioning platform and positioning method under limit working condition Download PDF

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Publication number
CN111123334A
CN111123334A CN201910664988.4A CN201910664988A CN111123334A CN 111123334 A CN111123334 A CN 111123334A CN 201910664988 A CN201910664988 A CN 201910664988A CN 111123334 A CN111123334 A CN 111123334A
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vehicle
road
positioning
base station
information
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CN111123334B (en
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殷国栋
王法安
庄伟超
梁晋豪
董昊轩
汪*
汪
刘赢
卢彦博
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Southeast University
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Southeast University
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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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/51—Relative positioning
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • 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
    • 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]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • 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]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]

Abstract

The invention relates to a multi-vehicle cooperative positioning platform and a positioning method under an extreme condition, wherein the positioning platform comprises a communication device, a vehicle-mounted device, a road side device and a satellite group which cooperate with each other to realize accurate positioning of a vehicle under the extreme condition; the communication device provides real-time signals for vehicles located in the network; the vehicle-mounted device is installed on a vehicle in the network and receives the information of the communication device and the position information of other adjacent vehicles in real time; the roadside devices are arranged on two sides of the road and provide information of fixed objects on two sides of the road for the vehicle-mounted device in real time; the satellite group provides road-level vehicle positioning for the vehicles in the network on high-quality road conditions, provides absolute positioning for the vehicles in the network under extreme working conditions, and provides auxiliary positioning for the vehicle-mounted device and the road side device; the invention can realize the accurate positioning of road and environment perception in real time under the extreme working condition, and provides a powerful basis for the development of intelligent networked automobiles and the improvement of traffic road systems.

Description

Multi-vehicle cooperative positioning platform and positioning method under limit working condition
Technical Field
The invention relates to a multi-vehicle cooperative positioning platform and a positioning method under a limit working condition, and belongs to the field of vehicle sensing.
Background
The multi-vehicle cooperative positioning is an important component of vehicle-road cooperation, the multi-vehicle cooperative positioning is used as a subsystem of the vehicle-road cooperation, the important component of cooperative research is obtained through multi-vehicle information interaction, and the multi-vehicle cooperative positioning is a new generation intelligent traffic cooperative key technology researched in countries of Europe and America.
The positioning of the vehicle under the limit working condition is greatly influenced and cannot be accurately positioned, so that the congestion of road traffic and the driving safety of the vehicle bring serious consequences, and a solid foundation is laid for accelerating the improvement of a traffic system and the development of intelligent networked automobiles, developing a multi-vehicle cooperative positioning and perfecting the traffic system and future unmanned vehicles.
Along with the continuous perfect of four major positioning systems, the location demonstrates the diversification, but do not have the high accuracy location that a location can independently accomplish the vehicle, the positioning accuracy of positioning system and the receiver in market is about 10 meters range more, current on-vehicle use GPS can't satisfy the high accuracy map, receive the influence of vehicle location, need to develop a many cars of extreme condition collaborative positioning platform, can solve the big difficult problem of vehicle positioning error, promote the development of intelligent networking car and the perfect of traffic system simultaneously, accelerate car-way-network system development, promote the whole development process of car networking.
Disclosure of Invention
The invention provides a multi-vehicle cooperative positioning platform and a positioning method under extreme conditions, which are used for completing the multi-vehicle cooperative positioning platform under the extreme conditions, can realize accurate road and environment sensing positioning of vehicles in real time under the extreme conditions, and provide a powerful basis for development of intelligent networked automobiles and improvement of traffic road systems.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multi-vehicle cooperative positioning platform under the limit working condition comprises a communication device, a vehicle-mounted device, a road side device and a satellite group, wherein the communication device, the vehicle-mounted device, the road side device and the satellite group are mutually cooperated under the limit working condition to realize accurate positioning of a vehicle;
the communication devices are positioned on two sides of a road and provide real-time signals for vehicles in the network;
the vehicle-mounted device is installed on a vehicle in the network and receives the information of the communication device and the position information of other adjacent vehicles in real time;
the roadside devices are arranged on two sides of the road and provide information of fixed objects on two sides of the road for the vehicle-mounted device in real time;
the satellite group provides road-level vehicle positioning for the vehicles in the network on high-quality road conditions, provides absolute positioning for the vehicles in the network under extreme working conditions, and provides auxiliary positioning for the vehicle-mounted device and the road side device;
as a further preferred aspect of the present invention,
the vehicles located in the network include three vehicles, a first vehicle, a second vehicle and a third vehicle,
the satellite group includes a first receiving satellite, a second receiving satellite and a third receiving satellite,
the communication device comprises a first base station, a second base station and a third base station, wherein the three base stations are communicated through buried optical cables to realize mutual communication, the first vehicle, the second vehicle and the third vehicle are simultaneously communicated with the first base station, the second base station and the third base station in pairs in real time, and the first base station, the second base station and the third base station simultaneously receive positioning signals of a satellite group in real time;
the vehicle-mounted device comprises base station receivers arranged at the head and the tail of the vehicle, the base station receivers are used for receiving base station signals matched with the corresponding vehicles and receiving positioning signals of satellite groups, and the vehicle-mounted device also comprises an information transmitter arranged on the vehicle and used for transmitting vehicle information,
the vehicle-mounted device also comprises radars which are arranged on vehicles, each vehicle is provided with four radars which are respectively a first radar, a second radar, a third radar and a fourth radar,
the vehicle-mounted device also comprises a laser scanner and an inertial navigation device which are arranged on the vehicle, wherein the inertial navigation device comprises a gyroscope and an accelerometer;
trees, high buildings, tunnels, underground parking lots, road traffic signs and fixed anchor points are distributed on two sides of a road, the road test device comprises road sending units positioned on two sides of the road, and the road sending units send fixed object information on two sides of the road to a vehicle-mounted device;
a positioning method of a multi-vehicle cooperative positioning platform under a limit working condition comprises the following steps:
the first step is as follows: the method comprises the steps that a first base station, a second base station and a third base station acquire positioning signals sent by a satellite group in real time, acquire base station positioning values in different environments, and finally acquire positioning point information of each vehicle through vehicle-to-vehicle communication, TOA and AOA;
the second step is that: receiving position information of a first base station, a second base station and a third base station through base station receivers arranged at the head and the tail of a vehicle, namely acquiring absolute road-level positioning of the vehicle under the condition of extreme working conditions, and calculating time, distance and direction angle of the vehicle to a positioning point through vehicle-to-vehicle communication, TOA and AOA by combining four radars arranged on each vehicle;
the third step: projecting the acquired absolute road level positioning information to a road traffic network database, acquiring horizontal and vertical position information of the vehicle in real time, and acquiring relative positioning precision information of an elevation of the vehicle under the condition of an extreme working condition;
the fourth step: obtaining relative positioning precision information of each vehicle, transmitting the information to adjacent vehicles in real time through an information transmitter, and receiving the information transmitted by the adjacent vehicles through a base station receiver to finally obtain the relative meter-level positioning precision of the vehicles under the condition of extreme working conditions, wherein the meter-level range is between 1m and 10 m;
the fifth step: under meter-level positioning accuracy, a road sending unit transmits information of all detected fixed objects on two sides of a road to a vehicle-mounted device of each vehicle for real-time fusion of regional information, the vehicle which receives the information firstly transmits the information to the rest vehicles through an information transmitter, the rest vehicles perform accurate meter-level positioning of the vehicle according to the acquired information, the accurate meter-level range is 10cm-50cm, and after all the information is acquired, driving plan planning is performed;
as a further preferred aspect of the present invention, in the first step, the locating point information of each vehicle is obtained, and the specific steps are as follows: taking the obtaining of the first vehicle location point information as an example:
setting the coordinates of the first base station and the second base station as known points A respectively1＝(x1,y1)、A2＝(x2,y2) Setting the coordinates of the first vehicle to Vn＝(vi,vj) Obtaining the distance between vehicles through vehicle-to-vehicle communication, TOA and AOA, namely A1A2、A1Vi、A2ViAccording to a setpoint formula of the first vehicle
Figure BDA0002139795840000031
Figure BDA0002139795840000032
Figure BDA0002139795840000033
Obtaining a location point V of a first vehiclen＝(vi,vj)；
As a further preferred aspect of the present invention, in the second step, the time, the distance, and the direction angle of the vehicle driving to the positioning point are calculated, and the specific steps are as follows:
setting the speed of the vehicle as the uniform speed S and the time as t under the condition of GPS interruption of the vehicle1Time at interrupt condition t2Calculating the real-time driving distance obtained by absolute road level positioning plus S (t) under the condition of road interruption2-t1) Is the distance after the interrupt is located;
the direction angle is the azimuth angle of the vehicle in the geographic position, the vehicle runs on the road straight, and the geographic position of the road is the azimuth angle of the driving road of the vehicle;
the time when the vehicle runs to the positioning point is obtained by sending the initial running time through the information transmitter and receiving the time difference between the initial running time and the time when the vehicle reaches the positioning point through the base station receiver;
as a further preferred embodiment of the present invention, the road traffic network database is a customized three-dimensional grid map database, and the computer is a plane when describing the electronic map road network database, each road is formed by a set of two-dimensional curves, wherein each curve of each road section is formed by vertices at two ends and a series of nodes in the middle, that is, the whole traffic road network is a topological connection graph formed by at least two vertices and at least one straight line section between the two vertices.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, when the vehicle runs on a road with a good environment, the fused accurate positioning information of the communication device, the road side device and the satellite group can be received in real time, centimeter-level positioning can be still obtained when the vehicle runs under the extreme working condition environment, and the problem of signal interruption of the GPS interruption condition of the current vehicle is solved;
2. the cooperative positioning platform has self-adaptability, can monitor signal interruption and larger positioning error of the GPS in real time, can automatically switch the platform to perform high-precision positioning, is reliable and compact to use and flexible to operate, and solves the difficulty of vehicle positioning;
3. the invention improves the problem of independent positioning of vehicles, realizes information exchange between the vehicles, integrally improves the integral level of the internet connection vehicle and the traffic road system, and lays a foundation for vehicle-road-network cooperative control.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic overall structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of an in-vehicle device of a preferred embodiment of the present invention;
FIG. 3 is a schematic view of a roadside apparatus of a preferred embodiment of the present invention;
FIG. 4 is a schematic view of an inertial navigation device of a preferred embodiment of the present invention;
FIG. 5 is a diagram illustrating a computing structure for obtaining an anchor point according to a preferred embodiment of the present invention.
In the figure: 1 is a first base station, 2 is a second base station, 3 is a third base station, 4 is a first vehicle, 5 is a second vehicle, and 6 is a third vehicle.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 to 5, the marker for describing the embodiment of the present invention includes: 1 is a first base station, 2 is a second base station, 3 is a third base station, 4 is a first vehicle, 5 is a second vehicle, and 6 is a third vehicle.
As shown in fig. 1, the multi-vehicle cooperative positioning platform under the extreme condition of the present invention includes a communication device, a vehicle-mounted device, a roadside device and a satellite group, which cooperate with each other to realize accurate positioning of a vehicle under the extreme condition;
the communication devices are positioned on two sides of a road and provide real-time signals for vehicles in the network;
as shown in fig. 2, the in-vehicle apparatus is mounted on a vehicle located in a network, and receives information of the communication apparatus and position information of other adjacent vehicles in real time;
as shown in fig. 3, the roadside devices are arranged on both sides of the road, and provide information of fixed objects on both sides of the road for the vehicle-mounted device in real time;
the satellite group provides road-level vehicle positioning for the vehicles in the network on high-quality road conditions, provides absolute positioning for the vehicles in the network under extreme working conditions, and provides auxiliary positioning for the vehicle-mounted device and the road side device;
example 1:
the vehicles located in the network are set to include three vehicles, a first vehicle, a second vehicle and a third vehicle,
the satellite group includes a first receiving satellite, a second receiving satellite and a third receiving satellite,
the communication device comprises a first base station, a second base station and a third base station, wherein the three base stations are communicated through buried optical cables to realize mutual communication, the first vehicle, the second vehicle and the third vehicle are simultaneously communicated with the first base station, the second base station and the third base station in pairs in real time, and the first base station, the second base station and the third base station simultaneously receive positioning signals of a satellite group in real time;
the vehicle-mounted device comprises base station receivers arranged at the head and the tail of the vehicle, the base station receivers are used for receiving base station signals matched with the corresponding vehicles and receiving positioning signals of satellite groups, and the vehicle-mounted device also comprises an information transmitter arranged on the vehicle and used for transmitting vehicle information,
the vehicle-mounted device also comprises radars which are arranged on vehicles, each vehicle is provided with four radars which are respectively a first radar, a second radar, a third radar and a fourth radar,
the onboard device also includes a laser scanner and an inertial navigation device mounted on the vehicle, the inertial navigation device including a gyroscope and an accelerometer, as shown in fig. 4;
trees, high buildings, tunnels, underground parking lots, road traffic signs and fixed anchor points are distributed on two sides of a road, the road test device comprises road sending units located on two sides of the road, and the road sending units send fixed object information on two sides of the road to a vehicle-mounted device.
The vehicle-mounted device also comprises a mobile smart phone positioned in the vehicle, when the vehicle is in a tunnel without GPS signals or in an indoor parking lot and other limit working conditions, absolute road-level positioning is obtained through information sending of the satellite group, the mobile smart phone in the vehicle receives positioning reference for the vehicle, four radars mounted on each vehicle jointly act to obtain the time, the distance and the direction angle of the vehicle to the positioning point, and the three are fused.
According to the inertial navigation device, the gyroscope and the accelerometer are used for realizing navigation based on the DR33 technology, the gyroscope and the accelerometer are both installed on the vehicle-mounted device, and when a vehicle runs under the limited working conditions of a tunnel, an underground parking lot and the like, the gyroscope and the accelerometer based on the DR33 technology are used for realizing positioning, and meanwhile, the gyroscope and the accelerometer form fusion real-time positioning with a vehicle-mounted GPS.
The working principle of the multi-vehicle cooperative positioning platform under the limit working condition is as follows:
when the system works, a vehicle runs under the extreme working condition weather of trees, high buildings, strong wind, fog, heavy rain and the like, zero drift errors exist in signals of a satellite group, or GPS signals are interrupted, so that a driver cannot obtain real-time accurate vehicle positioning signals, when the signals drift and are interrupted, each device of a platform is automatically switched and started, an inertial navigation device arranged on the vehicle is started, the absolute positioning accuracy of the vehicle can be received, powerful support is provided for accurate relative positioning accuracy of subsequent vehicles, meanwhile, a first vehicle, a second vehicle and a third vehicle respectively receive relative positions sent by a first base station, a second base station and a third base station, meanwhile, a first radar, a second radar, a third radar and a fourth radar of a vehicle-mounted device are arranged on each vehicle and detect road condition information, a TOA and an AOA acquire the time and the arrival angle of the vehicle at a target point, and a laser scanner acquires the positions of nearby vehicles, meanwhile, the base station receiver can obtain road-level positioning, the obtained road-level position information is projected to a road traffic network database, the horizontal and vertical position information of the vehicles can be obtained in real time, the positioning information of the elevation can be accurately realized when the vehicles run on an overpass and an overlapped road, the projection is carried out on all data to carry out fusion calculation by an extended Kalman filtering fusion algorithm, the fusion data is output and mutually transmitted to nearby vehicles, and each vehicle obtains relatively high-precision positioning data, meanwhile, the relative positions of the roadside device and the detection anchor point are calculated by the ion filtering algorithm, the positioning points such as traffic road signs are obtained, the final positions of the vehicles are obtained, accurate centimeter-level positioning can be obtained for the vehicle drivers, accurate positioning under the integral limit working condition of the platform is realized, and a higher research basis is provided for the development of intelligent internet automobiles and traffic road systems.
Example 2:
a positioning method of a multi-vehicle cooperative positioning platform under a limit working condition comprises the following steps:
the first step is as follows: the method comprises the steps that a first base station, a second base station and a third base station acquire positioning signals sent by a satellite group in real time, acquire base station positioning values in different environments, and finally acquire positioning point information of each vehicle through vehicle-to-vehicle communication, TOA and AOA;
the second step is that: receiving position information of a first base station, a second base station and a third base station through base station receivers arranged at the head and the tail of a vehicle, namely acquiring absolute road-level positioning of the vehicle under the condition of extreme working conditions, and calculating time, distance and direction angle of the vehicle to a positioning point through vehicle-to-vehicle communication, TOA and AOA by combining four radars arranged on each vehicle;
the third step: projecting the acquired absolute road level positioning information to a road traffic network database, acquiring horizontal and vertical position information of the vehicle in real time, and acquiring relative positioning precision information of an elevation of the vehicle under the condition of an extreme working condition;
the fourth step: obtaining relative positioning precision information of each vehicle, transmitting the information to adjacent vehicles in real time through an information transmitter, and receiving the information transmitted by the adjacent vehicles through a base station receiver to finally obtain the relative meter-level positioning precision of the vehicles under the condition of extreme working conditions, wherein the meter-level range is between 1m and 10 m;
the fifth step: under meter-level positioning accuracy, a road sending unit transmits information of detected fixed objects on two sides of a road to a vehicle-mounted device of each vehicle to fuse area information in real time, the vehicle which receives the information firstly transmits the information to the remaining vehicles through an information transmitter, the remaining vehicles perform accurate meter-level positioning of the vehicle according to the acquired information, the accurate meter-level range is 10cm-50cm, and after all the information is acquired, driving plan planning is performed.
Example 3:
in the first step in embodiment 2, as shown in fig. 5, the locating point information of each vehicle is obtained, and the specific steps are as follows: taking the obtaining of the first vehicle location point information as an example:
setting the coordinates of the first base station and the second base station as known points A respectively1＝(x1,y1)、A2＝(x2,y2) Setting the coordinates of the first vehicle to Vn＝(vi,vj) Obtaining the distance between vehicles through vehicle-to-vehicle communication, TOA and AOA, namely A1A2、A1Vi、A2ViAccording to a setpoint formula of the first vehicle
Figure BDA0002139795840000061
Figure BDA0002139795840000062
Figure BDA0002139795840000071
Obtaining a location point V of a first vehiclen＝(vi,vj)；
The positioning points of the remaining vehicles can be obtained according to the method.
Example 4:
in the second step of embodiment 2, the time, distance and direction angle from the vehicle to the positioning point are calculated, and the specific steps are as follows:
setting the speed of the vehicle as the uniform speed S and the time as t under the condition of GPS interruption of the vehicle1Time at interrupt condition t2Calculating the real-time driving distance obtained by absolute road level positioning plus S (t) under the condition of road interruption2-t1) Is the distance after the interrupt is located;
the direction angle is the azimuth angle of the vehicle in the geographic position, the vehicle runs on the road straight, and the geographic position of the road is the azimuth angle of the driving road of the vehicle;
the time when the vehicle runs to the positioning point is obtained by sending the initial running time through the information transmitter and receiving the time difference between the initial running time and the time when the vehicle reaches the positioning point through the base station receiver;
obtaining the relative positioning accuracy of one vehicle, wherein the devices of the rest vehicles are the same as the relative positioning accuracy of the rest vehicles, transmitting the obtained information to the adjacent vehicle in real time through an information transmitter, and simultaneously receiving the information transmitted by the adjacent vehicle through a base station receiver to finally obtain the relative meter-level positioning accuracy of the vehicle under the conditions of extreme working conditions and no GPS, wherein the meter-level range is between 1m and 10 m;
example 5:
in the fifth step of embodiment 2, under meter-level positioning accuracy, the information of each fixed object on both sides of the road detected by the road sending unit includes fixed anchor points which can be sensed and acquired when the vehicle enters trees, high-rise buildings, tunnels and underground parking lots under extreme conditions, the base station receiver sends the sensed signals to the vehicle-mounted device, meanwhile, the road side device detects the road traffic sign, the road sending unit sends the road traffic information to the vehicle-mounted device at the same time, various information under the condition of relative meter-level positioning is fused, the regional information is fused in real time, the vehicle which receives the information firstly transmits the information to other vehicles, other vehicles can carry out the accurate decimeter-level positioning of the sending vehicle according to the acquired information, the accurate decimeter-level range is 10cm-50cm, and acquiring all road information and then carrying out further driving plan planning according to the degree of the obtained positioning accuracy.
The satellite group can provide real-time road-level positioning accuracy for the first base station, the second base station, the third base station, the first vehicle, the second vehicle and the third vehicle in a good environment, when the satellite group is influenced by limit working conditions such as trees, high buildings, tunnels and underground parking lots, the positioning service is stopped, the vehicle-mounted device, the road-side device and the communication device form a real-time measuring unit, and when the satellite group is separated from the limit working conditions, the first base station, the second base station, the third base station, the first vehicle, the second vehicle and the third vehicle still can obtain the road-level positioning accuracy, and high-accuracy positioning is obtained under a fusion algorithm.
The road traffic network database is a customized three-dimensional grid map database, the computer is a plane when describing the electronic map road network database, each road is composed of a group of two-dimensional curves, each curve of each section of road is composed of vertexes at two ends and a series of nodes in the middle, namely the whole traffic road network is a topological connection graph composed of at least two vertexes and at least one straight line section between the two vertexes;
the road traffic network database is adopted, not only can a horizontal position be obtained in positioning, but also an elevation model DEM can be obtained under special road conditions such as overhead, overpass and deep floor road conditions, meanwhile, the fused initial positioning is projected to the road traffic network database in the driving process, the road traffic network database updates the horizontal positioning position in real time, and simultaneously displays the height of the positioning point and the positions of the overpass, the overhead and the deep floor, so that a vehicle driver can really obtain the three-dimensional positioning point of vehicle driving in real time, the vehicle can be accurately positioned to the horizontal position, and simultaneously, the accurate height position of the vehicle can be intuitively sensed, and finally, the accurate three-dimensional position point of the vehicle can be realized.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (6)

1. The utility model provides a platform is fixed a position in coordination to car more under extreme condition which characterized in that: the system comprises a communication device, a vehicle-mounted device, a road side device and a satellite group which cooperate with each other to realize accurate positioning of a vehicle under the condition of extreme working conditions;
the communication devices are positioned on two sides of a road and provide real-time signals for vehicles in the network;
the vehicle-mounted device is installed on a vehicle in the network and receives the information of the communication device and the position information of other adjacent vehicles in real time;
the roadside devices are arranged on two sides of the road and provide information of fixed objects on two sides of the road for the vehicle-mounted device in real time;
the satellite group provides road-level vehicle positioning for vehicles in the network on high-quality road conditions, provides absolute positioning for the vehicles in the network under extreme conditions, and provides auxiliary positioning for the vehicle-mounted device and the road side device.
2. The multi-vehicle cooperative positioning platform under the limit condition of claim 1, wherein:
the vehicles located in the network include three vehicles, a first vehicle, a second vehicle and a third vehicle,
the satellite group includes a first receiving satellite, a second receiving satellite and a third receiving satellite,
the communication device comprises a first base station, a second base station and a third base station, wherein the three base stations are communicated through buried optical cables to realize mutual communication, the first vehicle, the second vehicle and the third vehicle are simultaneously communicated with the first base station, the second base station and the third base station in pairs in real time, and the first base station, the second base station and the third base station simultaneously receive positioning signals of a satellite group in real time;
the vehicle-mounted device comprises base station receivers arranged at the head and the tail of the vehicle, the base station receivers are used for receiving base station signals matched with the corresponding vehicles and receiving positioning signals of satellite groups, and the vehicle-mounted device also comprises an information transmitter arranged on the vehicle and used for transmitting vehicle information,
the vehicle-mounted device also comprises radars which are arranged on vehicles, each vehicle is provided with four radars which are respectively a first radar, a second radar, a third radar and a fourth radar,
the vehicle-mounted device also comprises a laser scanner and an inertial navigation device which are arranged on the vehicle, wherein the inertial navigation device comprises a gyroscope and an accelerometer;
trees, high buildings, tunnels, underground parking lots, road traffic signs and fixed anchor points are distributed on two sides of a road, the road test device comprises road sending units located on two sides of the road, and the road sending units send fixed object information on two sides of the road to a vehicle-mounted device.
3. A positioning method of a multi-vehicle cooperative positioning platform under a limit working condition is characterized by comprising the following steps: the method comprises the following steps:
the first step is as follows: the method comprises the steps that a first base station, a second base station and a third base station acquire positioning signals sent by a satellite group in real time, acquire base station positioning values in different environments, and finally acquire positioning point information of each vehicle through vehicle-to-vehicle communication, TOA and AOA;
the second step is that: receiving position information of a first base station, a second base station and a third base station through base station receivers arranged at the head and the tail of a vehicle, namely acquiring absolute road-level positioning of the vehicle under the condition of extreme working conditions, and calculating time, distance and direction angle of the vehicle to a positioning point through vehicle-to-vehicle communication, TOA and AOA by combining four radars arranged on each vehicle;
the third step: projecting the acquired absolute road level positioning information to a road traffic network database, acquiring horizontal and vertical position information of the vehicle in real time, and acquiring relative positioning precision information of an elevation of the vehicle under the condition of an extreme working condition;
the fourth step: obtaining relative positioning precision information of each vehicle, transmitting the information to adjacent vehicles in real time through an information transmitter, and receiving the information transmitted by the adjacent vehicles through a base station receiver to finally obtain the relative meter-level positioning precision of the vehicles under the condition of extreme working conditions, wherein the meter-level range is between 1m and 10 m;
the fifth step: under meter-level positioning accuracy, a road sending unit transmits information of detected fixed objects on two sides of a road to a vehicle-mounted device of each vehicle to fuse area information in real time, the vehicle which receives the information firstly transmits the information to the remaining vehicles through an information transmitter, the remaining vehicles perform accurate meter-level positioning of the vehicle according to the acquired information, the accurate meter-level range is 10cm-50cm, and after all the information is acquired, driving plan planning is performed.
4. The method for positioning the multi-vehicle cooperative positioning platform under the limit condition according to claim 3, wherein the method comprises the following steps: in the first step, the locating point information of each vehicle is obtained, and the specific steps are as follows: taking the obtaining of the first vehicle location point information as an example:
setting the coordinates of the first base station and the second base station as known points A respectively1＝(x1,y1)、A2＝(x2,y2) Setting the coordinates of the first vehicle to Vn＝(vi,vj) Obtaining the distance between vehicles through vehicle-to-vehicle communication, TOA and AOA, namely A1A2、A1Vi、A2ViAccording to the location point of the first vehicleFormula (II)
Figure FDA0002139795830000021
Figure FDA0002139795830000022
Figure FDA0002139795830000023
Obtaining a location point V of a first vehiclen＝(vi,vj)。
5. The method for positioning the multi-vehicle cooperative positioning platform under the limit condition according to claim 3, wherein the method comprises the following steps: in the second step, the time, the distance and the direction angle of the vehicle driving to the positioning point are calculated, and the specific steps are as follows:
setting the speed of the vehicle as the uniform speed S and the time as t under the condition of GPS interruption of the vehicle1Time at interrupt condition t2Calculating the real-time driving distance obtained by absolute road level positioning plus S (t) under the condition of road interruption2-t1) Is the distance after the interrupt is located;
the direction angle is the azimuth angle of the vehicle in the geographic position, the vehicle runs on the road straight, and the geographic position of the road is the azimuth angle of the driving road of the vehicle;
the time when the vehicle runs to the positioning point is obtained by the difference between the initial running time sent by the information transmitter and the time when the base station receiver receives the time when the vehicle reaches the positioning point.
6. The method for positioning the multi-vehicle cooperative positioning platform under the limit condition according to claim 3, wherein the method comprises the following steps: the road traffic network database is a customized three-dimensional grid map database, the computer is a plane when describing the electronic map road network database, each road is composed of a group of two-dimensional curves, each curve of each section of road is composed of vertexes at two ends and a series of nodes in the middle, namely the whole traffic road network is a topological connection graph composed of at least two vertexes and at least one straight line section between the two vertexes.
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