CN111580186A - Adaptive adjustment method and system for threshold of geomagnetic sensor and terminal - Google Patents
Adaptive adjustment method and system for threshold of geomagnetic sensor and terminal Download PDFInfo
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- CN111580186A CN111580186A CN202010377133.6A CN202010377133A CN111580186A CN 111580186 A CN111580186 A CN 111580186A CN 202010377133 A CN202010377133 A CN 202010377133A CN 111580186 A CN111580186 A CN 111580186A
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Abstract
The invention relates to a calibration method of a geomagnetic sensor, in particular to a self-adaptive adjusting method of a geomagnetic sensor threshold, which comprises the following steps: detecting the magnetic field value when no vehicle exists, and recording the magnetic field value as a first magnetic field value without the vehicle; after the first magnetic field value without the vehicle is recorded, detecting and recording a second magnetic field value without the vehicle after the vehicle leaves the parking space; after the second magnetic field value without the vehicle is recorded, detecting and recording a third magnetic field value without the vehicle after the vehicle leaves the parking space; detecting and recording the value of the No-vehicle Nth magnetic field according to the method; and calculating an average value of the recorded magnetic field values without vehicles, wherein when the average value is calculated, adjacent magnetic field values without vehicles which are not less than three groups are selected for calculation, and the average value is a threshold value of no vehicles in the parking spaces. The method realizes calibration by stopping for several times, reduces the workload of calibration, is convenient to calibrate, performs calibration all the time in the using process, corrects the threshold value in real time, ensures the accuracy of detection and reduces the manual maintenance cost.
Description
Technical Field
The invention relates to a calibration method of a geomagnetic sensor, in particular to a self-adaptive adjustment method, a self-adaptive adjustment system and a self-adaptive adjustment terminal of a geomagnetic sensor threshold.
Background
At present, vehicle detection by utilizing a geomagnetic principle needs to perform initialization magnetic field calibration work after a geomagnetic sensor is installed. Because the earth magnetic field is stable within a range of several kilometers, and the change of the earth magnetic field caused by each vehicle is different, the initialization magnetic field calibration work is carried out, and no vehicle is required to be parked on an installation parking space, if a vehicle is parked, the vehicle needs to be removed, and the road parking space is a scarce public resource, so that the vehicle is difficult to be moved during actual initialization magnetic field calibration.
In addition, the service life of the geomagnetic sensor is generally more than 5 years, and in the 5-year service process, environmental changes, the hysteresis effect of the device and the construction of large-scale infrastructure all cause the threshold value drift of the initial magnetic field for the first time, so that the detection is inaccurate. The current method for solving the inaccurate detection is to carry out the magnetic field calibration initialization again, and the actual operation is very inconvenient.
Disclosure of Invention
In order to solve the above problems, the invention provides a self-adaptive adjusting method of a geomagnetic sensor threshold, which is characterized by calibration during direct use, convenient calibration, automatic updating of the threshold, dynamic calibration of the detected threshold, high detection accuracy and convenient use, and the specific technical scheme is as follows:
a self-adaptive adjusting method for a geomagnetic sensor threshold comprises the following steps: detecting the magnetic field value when no vehicle exists, and recording the magnetic field value as a first magnetic field value without the vehicle; after the first magnetic field value without the vehicle is recorded, detecting and recording a second magnetic field value without the vehicle after the vehicle leaves the parking space; after the second magnetic field value without the vehicle is recorded, detecting and recording a third magnetic field value without the vehicle after the vehicle leaves the parking space; detecting and recording the value of the No-vehicle Nth magnetic field according to the method; and calculating an average value of the recorded magnetic field values without vehicles, wherein when the average value is calculated, adjacent magnetic field values without vehicles which are not less than three groups are selected for calculation, and the average value is a threshold value of no vehicles in the parking spaces.
Further, detecting a value of the field with vehicle after recording the value of the field without vehicle, if the difference between the value of the field with vehicle and the value of the field without vehicle is greater than a preset comparison threshold, recording the value of the field with vehicle, otherwise, not recording and detecting the value of the field with vehicle next time until the value of the field with vehicle and the value of the field without vehicle are detected to have the difference greater than the comparison threshold, and then recording the value of the field with vehicle; and detecting a vehicle-free magnetic field value when the vehicle leaves the parking space after recording the vehicle-free magnetic field value, recording the vehicle-free magnetic field value if the difference between the detected vehicle-free magnetic field value and the vehicle-containing magnetic field value is greater than a comparison threshold, and otherwise, not recording and detecting the next vehicle-free magnetic field value until detecting the vehicle-free magnetic field value and the vehicle-containing magnetic field value with the difference greater than the comparison threshold, and then recording the vehicle-free magnetic field value.
Further, the comparison threshold is 30-40.
Further, when the average value is calculated, at least two adjacent magnetic field values without vehicles are selected, if the difference between the adjacent magnetic field values is smaller than the calculation threshold value or the difference between the maximum value and the minimum value is smaller than the calculation threshold value, the average value is calculated, the average value is updated to be the threshold value without vehicles at the new parking space, and otherwise, the operation is restarted.
Further, the calculation threshold is 3-6.
Further, three adjacent groups of data are selected when the average value is calculated.
A geomagnetic parking space detection system comprises a geomagnetic detection module, wherein the geomagnetic detection module is used for detecting parking space states, and the parking space states comprise vehicle entering and vehicle leaving; the device also comprises a communication module; the storage is used for storing data and a parking space detection program; the processor, earth magnetism detection module, communication module and memory all are connected with the processor, the processor is used for acquireing earth magnetism detection module's data to carry out the parking stall detection procedure and adjust the threshold value that the parking stall does not have the car, pass through communication module with the testing result simultaneously and upload and give parking stall management system.
The geomagnetic parking space detection terminal comprises a memory, a storage and a control unit, wherein the memory is used for storing a computer program; a processor for invoking the computer program in the memory to perform the method for adaptive adjustment of geomagnetic sensor threshold.
Compared with the prior art, the invention has the following beneficial effects:
the self-adaptive adjusting method for the threshold of the geomagnetic sensor provided by the invention realizes calibration by stopping for several times, reduces the workload of calibration, is convenient to calibrate, performs calibration all the time in the using process, corrects the threshold in real time, ensures the accuracy of detection and reduces the manual maintenance cost.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
A self-adaptive adjusting method for a geomagnetic sensor threshold comprises the following steps: detecting the magnetic field value when no vehicle exists, and recording the magnetic field value as a first magnetic field value without the vehicle; after the first magnetic field value without the vehicle is recorded, detecting and recording a second magnetic field value without the vehicle after the vehicle leaves the parking space; after the second magnetic field value without the vehicle is recorded, detecting and recording a third magnetic field value without the vehicle after the vehicle leaves the parking space; detecting and recording the value of the No-vehicle Nth magnetic field according to the method; and calculating an average value of the recorded magnetic field values without vehicles, wherein when the average value is calculated, adjacent magnetic field values without vehicles which are not less than three groups are selected for calculation, and the average value is a threshold value of no vehicles in the parking spaces.
Detecting a vehicle magnetic field value after recording the vehicle-free magnetic field value, if the difference between the vehicle magnetic field value and the vehicle-free magnetic field value is larger than a preset comparison threshold value, recording the vehicle magnetic field value, otherwise, not recording and detecting the next vehicle magnetic field value until the vehicle magnetic field value with the difference between the vehicle magnetic field value and the vehicle-free magnetic field value larger than the comparison threshold value is detected, and then recording the vehicle magnetic field value;
and detecting a vehicle-free magnetic field value when the vehicle leaves the parking space after recording the vehicle-free magnetic field value, recording the vehicle-free magnetic field value if the difference between the detected vehicle-free magnetic field value and the vehicle-containing magnetic field value is greater than a comparison threshold, and otherwise, not recording and detecting the next vehicle-free magnetic field value until detecting the vehicle-free magnetic field value and the vehicle-containing magnetic field value with the difference greater than the comparison threshold, and then recording the vehicle-free magnetic field value.
The comparison threshold is 30-40.
And when the average value is calculated, selecting at least two adjacent magnetic field values without vehicles, calculating the average value if the difference between the adjacent magnetic field values is smaller than the calculation threshold or the difference between the maximum value and the minimum value is smaller than the calculation threshold, updating the average value to the threshold value without vehicles at the new parking space, and otherwise, restarting.
The calculation threshold is 3-6. And selecting three adjacent groups of data when calculating the average value.
The comparison threshold is a magnetic field value variable, and may be large or small, and a variation exceeding 35 means that the own vehicle has a vehicle coming or going. Characteristically, the magnetic field value of the parking space without the vehicle is a fixed value, and the vehicle with the vehicle is not a fixed value because the vehicle type is different. The core of the method is that once the vehicle position exceeds 35, the value is recorded, 5 times of analysis are accumulated, and if the difference between m1, m3 and m5 does not exceed 5, the vehicle position is considered to be a fixed value, namely, no vehicle exists in the parking space. In actual use, the influence caused by the coming or going of a vehicle is considered as the empirical data of more than 35, and the influence caused by the environment is considered as the empirical data of less than 35.
As shown in FIG. 1, the self-adaptive adjusting method of the threshold value of the geomagnetic sensor comprises the following steps:
s101, detecting a current magnetic field value when no vehicle exists in a parking space, recording the current magnetic field value as a first magnetic field value m1 when no vehicle exists, and then entering S102;
s102, after detecting a sudden change magnetic field value, the geomagnetic sensor enters S103, wherein the sudden change magnetic field value is a magnetic field change value caused by the fact that a vehicle enters a parking space or the vehicle passes through the parking space or the environment;
s103, comparing the detected abrupt magnetic field value with a first magnetic field value m1 without a vehicle, if the detected abrupt magnetic field value is larger than a comparison threshold value 35, entering S104, and if the detected abrupt magnetic field value is not larger than the comparison threshold value 35, returning to S102;
s104, recording a first magnetic field value m2 of the vehicle, and then entering S105;
s105, entering S106 after the geomagnetic sensor detects a sudden change magnetic field value, wherein the sudden change magnetic field value is a magnetic field change value caused by the fact that the vehicle leaves a parking space or the vehicle passes through the parking space or the environment;
s106, comparing the detected abrupt magnetic field value with the first magnetic field value m2 with the vehicle, if the detected abrupt magnetic field value is larger than the comparison threshold value 35, entering S107, and otherwise, returning to S105;
s107, recording a second magnetic field value m3 without a vehicle, and then entering S108;
s108, entering S109 after the geomagnetic sensor detects a sudden change magnetic field value, wherein the sudden change magnetic field value is a magnetic field change value caused by the fact that a vehicle enters a parking space or the vehicle passes through the parking space or the environment;
s109, comparing the detected abrupt magnetic field value with the vehicle-free second magnetic field value m3, if the detected abrupt magnetic field value is larger than the comparison threshold value 35, entering S110, and otherwise, returning to S108;
s110, recording a second magnetic field value m4 of the vehicle, and then entering S111;
s111, entering S112 after the geomagnetic sensor detects a sudden change magnetic field value, wherein the sudden change magnetic field value is a magnetic field change value caused by the fact that the vehicle leaves a parking space or the vehicle passes through the parking space or the environment;
s112, comparing the detected abrupt change magnetic field value with a second magnetic field value m4 with a vehicle, if the detected abrupt change magnetic field value is larger than a comparison threshold value 35, entering S113, and otherwise, returning to S111;
s113, recording a third magnetic field value m5 without a vehicle, and then entering S114;
s114, comparing the magnetic field value m1 without the vehicle, the magnetic field value m3 without the vehicle and the magnetic field value m5 without the vehicle respectively, if the differences among the magnetic field value m1 without the vehicle, the magnetic field value m3 without the vehicle and the magnetic field value m5 without the vehicle are all less than 5 or the difference between the maximum value and the minimum value is less than 5, entering S115, otherwise, returning to S101;
and S115, calculating the average value of the magnetic field value m1 without the vehicle, the magnetic field value m3 without the vehicle and the magnetic field value m5 without the vehicle, and updating the average value to the threshold value of no vehicle in the new parking space.
The principle of the technical scheme of the invention is as follows: in the parking behavior, the detection values of the vehicles leaving the geomagnetic sensor are necessarily close each time, so that the geomagnetic sensor is self-calibrated, and the threshold is updated.
After the installation of the local magnetic sensor is finished, the magnetic field value acquired by the local magnetic sensor is m1, when a first vehicle stops in a parking space provided with the geomagnetic sensor, the magnetic field value acquired by the sensor is m2, and when the vehicle leaves the parking space, the magnetic field value acquired by the sensor is m 3. Similarly, when the second car is parked in the parking space with the geomagnetic sensor, the magnetic field value acquired by the sensor is m4, and when the car leaves the parking space, the magnetic field value acquired by the sensor is m 5. The values of m1 and m2 are necessarily significantly different because one vehicle is parked, and similarly the values of m3 and m4 are also necessarily significantly different because another vehicle is parked. The values m1, m3 and m5 are magnetic field values of vehicles in the recording parking space, and therefore the differences among the values m1, m3 and m5 are not large. By using the data characteristic, the average value of the m1 value, the m3 value and the m5 value can be set as the magnetic field threshold value of the parking space without the vehicle, and further, in the using process of the whole geomagnetic sensor, the method can be used for carrying out real-time calibration so as to correct the drift of the previous threshold value.
Every time a magnetic field value that varies by more than 35 is detected, it is considered that there is a high probability of the effect of a vehicle coming or going. Because the magnetic field of the vehicle in the parking space is generally constant, and the magnetic field values of the vehicles are different due to different vehicles, if the difference between the three values m1, m3 and m5 is small, the vehicle can be considered to be absent, and the values m2 and m4 are different from the values m1, m3 and m5, the vehicle can be considered to be present. Therefore, the average magnetic field values of m1, m3 and m5 are taken as the new non-vehicle threshold values.
A geomagnetic parking space detection system comprises a geomagnetic detection module, wherein the geomagnetic detection module is used for detecting parking space states, and the parking space states comprise vehicle entering and vehicle leaving; the device also comprises a communication module; the storage is used for storing data and a parking space detection program; the processor, earth magnetism detection module, communication module and memory all are connected with the processor, the processor is used for acquireing earth magnetism detection module's data to carry out the parking stall detection procedure and adjust the threshold value that the parking stall does not have the car, pass through communication module with the testing result simultaneously and upload and give parking stall management system.
The geomagnetic parking space detection terminal comprises a memory, a storage and a control unit, wherein the memory is used for storing a computer program; a processor for invoking the computer program in the memory to perform a method of adaptive adjustment of geomagnetic sensor threshold.
Aiming at the difficulty that the geomagnetic sensor needs to ensure that no vehicle is parked in the installation parking space when the calibration is initialized, the calibration can be completed only by stopping for several times, so that the calibration efficiency is improved. In addition, the drift of the threshold value of the geomagnetic vehicle sensor in the long-time use process is corrected, so that the geomagnetic sensor is always in dynamic calibration in the use process, and the detection accuracy is improved.
The beneficial effects created by the invention are as follows: after the geomagnetic sensor is installed, manual calibration is not needed, and calibration can be completed only by stopping for several times. In addition, the method can take effect all the time in the geomagnetic use process, correct the threshold value in real time and reduce the manual maintenance cost.
Claims (8)
1. A method for adaptively adjusting a threshold of a geomagnetic sensor is characterized by comprising the following steps of:
detecting the magnetic field value when no vehicle exists, and recording the magnetic field value as a first magnetic field value without the vehicle;
after the first magnetic field value without the vehicle is recorded, detecting and recording a second magnetic field value without the vehicle after the vehicle leaves the parking space;
after the second magnetic field value without the vehicle is recorded, detecting and recording a third magnetic field value without the vehicle after the vehicle leaves the parking space;
detecting and recording the value of the No-vehicle Nth magnetic field according to the method;
and calculating an average value of the recorded magnetic field values without vehicles, wherein when the average value is calculated, adjacent magnetic field values without vehicles which are not less than three groups are selected for calculation, and the average value is a threshold value of no vehicles in the parking spaces.
2. The adaptive adjusting method of the geomagnetic sensor threshold according to claim 1,
detecting a vehicle magnetic field value after recording the vehicle-free magnetic field value, if the difference between the vehicle magnetic field value and the vehicle-free magnetic field value is larger than a preset comparison threshold value, recording the vehicle magnetic field value, otherwise, not recording and detecting the next vehicle magnetic field value until the vehicle magnetic field value with the difference between the vehicle magnetic field value and the vehicle-free magnetic field value larger than the comparison threshold value is detected, and then recording the vehicle magnetic field value;
and detecting a vehicle-free magnetic field value when the vehicle leaves the parking space after recording the vehicle-free magnetic field value, recording the vehicle-free magnetic field value if the difference between the detected vehicle-free magnetic field value and the vehicle-containing magnetic field value is greater than a comparison threshold, and otherwise, not recording and detecting the next vehicle-free magnetic field value until detecting the vehicle-free magnetic field value and the vehicle-containing magnetic field value with the difference greater than the comparison threshold, and then recording the vehicle-free magnetic field value.
3. The adaptive adjusting method for the threshold of the geomagnetic sensor according to claim 2, wherein the comparison threshold is 30-40.
4. The adaptive adjustment method for the threshold of the geomagnetic sensor, according to claim 2, wherein when the average value is calculated, not less than two adjacent magnetic field values without vehicles are selected, if the difference between the adjacent magnetic field values is smaller than the calculation threshold or the difference between the maximum value and the minimum value is smaller than the calculation threshold, the average value is calculated, and the average value is updated to the threshold value without vehicles in a new parking space, otherwise, the method is restarted.
5. The adaptive adjusting method for the threshold of the geomagnetic sensor according to claim 4, wherein the calculated threshold is 3-6.
6. The adaptive adjusting method for the threshold of the geomagnetic sensor according to claim 4, wherein three adjacent groups of data are selected when the average value is calculated.
7. The geomagnetic parking space detection system comprises a geomagnetic detection module and is characterized in that the geomagnetic detection module is used for detecting parking space states, wherein the parking space states comprise vehicle entering and vehicle leaving;
also comprises
A communication module;
the storage is used for storing data and a parking space detection program;
the processor, earth magnetism detection module, communication module and memory all are connected with the processor, the processor is used for acquireing earth magnetism detection module's data to carry out the parking stall detection procedure and adjust the threshold value that the parking stall does not have the car, pass through communication module with the testing result simultaneously and upload and give parking stall management system.
8. A geomagnetic parking space detection terminal is characterized by comprising
A memory for storing a computer program;
a processor for invoking the computer program in the memory to perform a method of adaptive adjustment of geomagnetic sensor threshold as claimed in any one of claims 1 to 6.
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