CN111812695A - Multi-unit differential positioning Beidou navigation training system and method - Google Patents
Multi-unit differential positioning Beidou navigation training system and method Download PDFInfo
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- CN111812695A CN111812695A CN202010622644.XA CN202010622644A CN111812695A CN 111812695 A CN111812695 A CN 111812695A CN 202010622644 A CN202010622644 A CN 202010622644A CN 111812695 A CN111812695 A CN 111812695A
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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
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a multi-unit differential positioning Beidou navigation training system and method. The system is provided with a vehicle positioning device, a vehicle metering and culturing server, an instructor carry-on terminal and at least one nominal base station; the vehicle positioning method comprises the steps that first positioning information is obtained according to a first Beidou satellite positioning signal; the nominal base station acquires second positioning information according to the second Beidou satellite positioning signal; the teacher portable terminal acquires third positioning information according to the third Beidou satellite positioning signal and sends the third positioning information to the vehicle banking server; the vehicle metering server acquires actual vehicle coordinates of the vehicle in the driving school according to the first positioning information, the second positioning information and the third positioning information, and acquires a training vector path in real time in training time according to the actual vehicle coordinates; and the vehicle counting and cultivating server establishes timing training data within training time according to the vehicle information, the instructor identity information and the training vector path.
Description
Technical Field
The invention relates to the field of Beidou positioning, in particular to a Beidou navigation training system and method based on multi-unit differential positioning.
Background
When the driving school trains, the driving school vehicles need to be used, and the driving school records the use condition of the driving school vehicles in a training time and identity information of teachers, students and the like using the driving school vehicles, so that the driving school trains can be managed conveniently.
However, when the vehicle in the driving school is positioned by using the Beidou satellite navigation system, the positioning accuracy is difficult to guarantee, so that when the driving school manages the training of the driving school, the judgment of the motion track of the vehicle in the driving school within a period of training time has errors, and the management is invalid.
Disclosure of Invention
The embodiment of the invention at least discloses a multi-unit differential positioning Beidou navigation training system. According to the Beidou training system, the positioning information of the vehicles in the driving school can be accurately acquired, the training vector path in the training time is generated according to the positioning information, and the timing training data of one-time driving school training is generated by combining the input trainees, instructors and vehicle information, so that the management work of the driving school on the training is optimized.
In order to realize the content, the system is provided with a vehicle positioning device, a vehicle metering server, an instructor carry-on terminal and at least one nominal base station; the vehicle positioning device is installed on a vehicle in a driving school, first positioning information of the vehicle in the driving school is obtained according to at least one first Beidou satellite positioning signal, and the vehicle positioning device sends the first positioning information to the vehicle banking server; the nominal base station acquires second positioning information according to at least one second Beidou satellite positioning signal and sends the second positioning information to the vehicle banking server; the teacher portable terminal acquires third positioning information according to at least one third Beidou satellite positioning signal and sends the third positioning information to the vehicle banking server, and the teacher portable terminal acquires and sends student identity information, vehicle information of the driving school vehicle and teacher identity information to the vehicle banking server; the vehicle metering server acquires the actual vehicle coordinates of the driving school vehicle according to the first positioning information, the second positioning information and the third positioning information, and acquires a training vector path in real time within training time according to the actual vehicle coordinates; the vehicle training server establishes timing training data within the training time according to the vehicle information, the instructor identity information and the training vector path; the vehicle timing training server provides at least one callable window, and the window displays the timing training data.
The embodiment of the invention at least discloses a Beidou navigation training method based on multi-unit differential positioning. The method comprises the following steps: a vehicle positioning device acquires first positioning information of a vehicle in a driving school according to at least one first Beidou satellite positioning signal and sends the first positioning information to the vehicle banking server; a nominal base station acquires second positioning information according to at least one second Beidou satellite positioning signal and sends the second positioning information to the vehicle banking server; a teacher portable terminal acquires third positioning information according to at least one third Beidou satellite positioning signal and sends the third positioning information to the vehicle banking server, and the teacher portable terminal acquires and sends student identity information, vehicle information of the driving school vehicle and teacher identity information to the vehicle banking server; the vehicle metering server acquires the actual vehicle coordinates of the driving school vehicle according to the first positioning information, the second positioning information and the third positioning information, and acquires a training vector path in real time within training time according to the actual vehicle coordinates; the vehicle training server establishes timing training data within the training time according to the vehicle information, the instructor identity information and the training vector path; the vehicle timing training server provides at least one callable window, and the window displays the timing training data.
In view of the above, other features and advantages of the disclosed exemplary embodiments will become apparent from the following detailed description of the disclosed exemplary embodiments, which proceeds with reference to the accompanying drawings.
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 structural diagram of a Beidou navigation training system with multi-unit differential positioning.
Detailed Description
Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of various described embodiments. It will be apparent, however, to one skilled in the art that the various described embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail as not to unnecessarily obscure aspects of the embodiments.
It will also be understood that, although the terms first, second, etc. may be used herein to describe various elements in some cases, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first contact can be termed a second contact, and, similarly, a second contact can be termed a first contact, without departing from the scope of the various described embodiments. The first contact and the second contact are both contacts, but they are not the same contact.
The embodiment aims to disclose a Beidou navigation training system with multi-unit differential positioning. Fig. 1 shows a system including a vehicle positioning device, an instructor's personal terminal, a nominal base station, and a vehicle inventory server.
Wherein, the vehicle positioning device is always arranged on the vehicle in the driving school. The vehicle positioning device is provided with a receiver and a communication module which are matched with the Beidou satellite navigation system. The receiver can receive the big dipper satellite positioning signal of broadcast, and communication module can send the big dipper satellite positioning signal of receiving to vehicle meter bank of academic or vocational study server.
Among them, the instructor-carried terminal may also be called a mobile terminal (Mob i l e terminal l), a Mobile Station (MS), a User Equipment (UE), etc. The wearable terminal may be a device that provides voice and/or data connectivity to the user, a handheld device with wireless connection capability, or other processing device connected to a wireless modem, such as: the portable terminal may be a mobile phone (or referred to as a "cellular" phone), a Computer with a mobile terminal, or a portable, pocket, hand-held, Computer-embedded, or vehicle-mounted mobile device, or may be a wearable device (such as a smart watch, a smart bracelet, or the like), a tablet Computer, a Personal Computer (PC), a Personal Digital Assistant (PDA), a POS (Point of sales terminal 300), or the like. In the embodiment, the instructor carry-on terminal can receive the broadcast Beidou satellite positioning signal and send the Beidou satellite positioning signal to the vehicle banking server.
The standard base station is a calibration station of the Beidou satellite positioning system, the theoretical base station coordinates are measured in advance, the broadcasting Beidou satellite positioning signals can be received, and the Beidou satellite positioning signals are sent to the vehicle banking server.
Then, when the device is implemented, the vehicle positioning device acquires first positioning information of the vehicle in the driving school according to the four first Beidou satellite positioning signals, and sends the first positioning information to the vehicle metering server. And the nominal base station acquires second positioning information according to the four second Beidou satellite positioning signals and sends the second positioning information to the vehicle banking server. And the teacher portable terminal acquires third positioning information according to the four third Beidou satellite positioning signals and sends the third positioning information to the vehicle metering server. Meanwhile, the teacher portable terminal can acquire and send the student identity information, the vehicle information of the driving school vehicle and the teacher identity information to the vehicle banking server.
The vehicle metering server is installed in a remote machine room. The server generally includes a memory and a processor. The memory mainly comprises a program storage area and a data storage area; the storage program area may store an operating system (for example, an android operating system, abbreviated as "android system", or an ios operating system, or another operating system, where the operating system may also be abbreviated as "system"), an application program (for example, a sound playing function, an image playing function, etc.) required by at least one function, a program related to this embodiment, and the like. And, the storage data area may store data created according to the use of the terminal, including the relevant setting information or use condition information of the application displayed on the display screen, and the like, which are referred to in the present embodiment. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, and other volatile solid state storage devices. The processor provides high speed computing capability and is capable of calling and executing programs stored in the memory. In the embodiment, the server is configured in a machine room and is configured and maintained by professional operation and maintenance personnel.
When the vehicle metering and cultivating server is implemented, the vehicle pseudo-positioning coordinates are obtained according to the first positioning information, then the current minimum administrative area where the driving school vehicle is located is obtained according to the vehicle pseudo-positioning coordinates, the current minimum administrative area can be divided according to administrative unit administration ranges of production teams, villages, counties, districts, cities and the like, and a plurality of nominal base stations are previously configured in each administrative area. The vehicle inventory server matches all nominal base stations within the area according to the minimum administrative area.
And the vehicle metering server acquires an actual base station coordinate according to second positioning information sent by each nominal base station matched in the minimum administrative area, and acquires a first correction parameter according to the difference between the theoretical base station coordinate and the actual base station coordinate of the nominal base station. When there are multiple nominal base stations in the minimum administrative area, the first correction parameter of each nominal base station is obtained, and the average value of all the first correction parameters is the first correction parameter formally available in this embodiment.
Meanwhile, the vehicle inventory-cultivation server acquires a terminal positioning coordinate according to the third positioning information, and acquires a second correction parameter according to the difference between the terminal positioning coordinate and the vehicle positioning coordinate.
Meanwhile, the vehicle inventory-cultivation server corrects the vehicle pseudo-positioning coordinate into a theoretical vehicle coordinate according to the first correction parameter, and obtains a third correction parameter according to the difference between the theoretical vehicle coordinate and the terminal positioning coordinate; and determining the theoretical vehicle coordinate as the actual vehicle coordinate when the third correction parameter is smaller than the second correction parameter. And determining the terminal positioning parameter as the actual vehicle coordinate when the third correction parameter is larger than the second correction parameter.
Then, in this embodiment, the vehicle training server acquires a training vector path in real time within a training time according to the actual vehicle coordinates, and establishes training data for timing by combining vehicle information, instructor identity information, trainee identity information, site information, mileage information, and the like. The driving school manages instructors, training vehicles, training fields and the like in an informationization mode through the established training data, can master the training condition of the instructors, and can also realize electronic office work, examination and approval of related applications and filing; meanwhile, the administrative department can obtain the training data for supervising and managing the driving school.
Further, in the embodiment, when the vehicle speed measurement server disconnects obtaining the terminal positioning coordinate and the vehicle pseudo positioning coordinate within the training time, a prediction vector path is fitted according to the obtained training vector path, the training start point coordinate, the training terminal coordinate and the high-precision map data; when the vehicle metering and culturing server acquires the terminal positioning coordinate and the vehicle pseudo positioning coordinate again in the training time, judging whether the terminal positioning coordinate and the actual vehicle coordinate are in a predicted vector path or not; and the vehicle metering server judges that the terminal positioning coordinate and the actual vehicle coordinate are not in the predicted vector path, and terminates the driving school training within the training time.
Further, the vehicle inventory server in the embodiment acquires the coordinate difference vector of the terminal positioning coordinate and the actual vehicle coordinate; and the vehicle training server terminates the driving school training within the training time when judging that the straight-line distance of the coordinate difference vector is greater than or equal to a distance threshold value.
Meanwhile, the vehicle training server implements the speed information of the vehicle in the driving school according to the change of the training vector path in unit time, and writes the speed information at each moment into the training data.
In some embodiments, the vehicle timekeeping server includes an on-board server capable of performing processing on the first positioning information and the third positioning information and uploading a result of the processing to the cloud server, and a cloud server capable of performing processing on the second positioning information and acquiring the training timekeeping data according to a result of the processing of the second positioning information.
In addition, the vehicle training server in this embodiment provides at least one callable window that can be accessed by the authority and displays archived training data.
The embodiment of the invention discloses a multi-unit differential positioning Beidou navigation training method. The method comprises the following steps of a vehicle positioning device, a nominal base station, an instructor carry-on terminal and a vehicle metering server when being executed.
S100, the vehicle positioning device acquires first positioning information of the vehicle in the driving school according to the four first Beidou satellite positioning signals and sends the first positioning information to a vehicle banking server;
s200, a nominal base station acquires second positioning information according to the four second Beidou satellite positioning signals and sends the second positioning information to a vehicle metering server;
s300, a teacher portable terminal acquires third positioning information according to the four third Beidou satellite positioning signals and sends the third positioning information to a vehicle banking server, and a teacher portable terminal acquires and sends student identity information, vehicle information of a driving school vehicle and teacher identity information to the vehicle banking server;
s400, the vehicle counting and cultivating server obtains actual vehicle coordinates of the vehicle in the driving school according to the first positioning information, the second positioning information and the third positioning information, and obtains a training vector path in real time in training time according to the actual vehicle coordinates;
s500, the vehicle counting and training server establishes timing training data within training time according to vehicle information, teacher identity information and a training vector path;
s600, the vehicle timing and training server provides at least one callable window, and the window displays timing and training data.
Wherein S400, when executed, implements the following steps.
S410, the vehicle metering server obtains vehicle pseudo-positioning coordinates according to the first positioning information.
S420, the vehicle counting server vehicle pseudo-positioning coordinates acquire the current minimum administrative area where the driving school vehicle is located, and at least one nominal base station is matched according to the minimum administrative area.
S430 the vehicle inventory-cultivation server obtains an actual base station coordinate according to the matched second positioning information, and obtains a first correction parameter according to the difference between the theoretical base station coordinate and the actual base station coordinate of the nominal base station.
S440, the vehicle banking server obtains the terminal positioning coordinate according to the third positioning information, and obtains a second correction parameter according to the difference between the terminal positioning coordinate and the vehicle positioning coordinate.
S450, the vehicle inventory-cultivation server corrects the vehicle pseudo-positioning coordinate into an actual vehicle coordinate according to the first correction parameter and the second correction parameter.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A big dipper training system with multi-unit differential positioning is characterized in that,
the system is provided with a vehicle positioning device, a vehicle metering and culturing server, an instructor carry-on terminal and at least one nominal base station;
the vehicle positioning device is installed on a vehicle in a driving school, first positioning information of the vehicle in the driving school is obtained according to at least one first Beidou satellite positioning signal, and the vehicle positioning device sends the first positioning information to the vehicle banking server;
the nominal base station acquires second positioning information according to at least one second Beidou satellite positioning signal and sends the second positioning information to the vehicle banking server;
the teacher portable terminal acquires third positioning information according to at least one third Beidou satellite positioning signal and sends the third positioning information to the vehicle banking server, and the teacher portable terminal acquires and sends student identity information, vehicle information of the driving school vehicle and teacher identity information to the vehicle banking server;
the vehicle metering server acquires the actual vehicle coordinates of the driving school vehicle according to the first positioning information, the second positioning information and the third positioning information, and acquires a training vector path in real time within training time according to the actual vehicle coordinates;
the vehicle training server establishes timing training data within the training time according to the vehicle information, the instructor identity information and the training vector path;
the vehicle timing training server provides at least one callable window, and the window displays the timing training data.
2. The multi-unit differential positioning Beidou navigation training system of claim 1,
the vehicle metering server acquires a vehicle pseudo-positioning coordinate according to the first positioning information;
the vehicle metering server acquires the current minimum administrative area where the vehicle of the driving school is located according to the vehicle pseudo-positioning coordinates, and matches at least one nominal base station according to the minimum administrative area;
the vehicle metering server acquires an actual base station coordinate according to the matched second positioning information, and acquires a first correction parameter according to the difference between the theoretical base station coordinate of the nominal base station and the actual base station coordinate;
the vehicle metering server acquires a terminal positioning coordinate according to the third positioning information and acquires a second correction parameter according to the difference between the terminal positioning coordinate and the vehicle positioning coordinate;
and the vehicle inventory-cultivation server corrects the vehicle pseudo-positioning coordinate into the actual vehicle coordinate according to the first correction parameter and the second correction parameter.
3. The multi-unit differential positioning Beidou navigation training system of claim 2,
the vehicle registration server corrects the vehicle pseudo-positioning coordinate into a theoretical vehicle coordinate according to the first correction parameter, and obtains a third correction parameter according to the difference between the theoretical vehicle coordinate and the terminal positioning coordinate;
and when the vehicle inventory server judges that the third correction parameter is smaller than the second correction parameter, determining the theoretical vehicle coordinate as the actual vehicle coordinate.
4. The multi-unit differential positioning Beidou navigation training system of claim 3,
and the vehicle metering server determines the terminal positioning parameter as the actual vehicle coordinate when judging that the third correction parameter is larger than the second correction parameter.
5. The multi-unit differential positioning Beidou navigation training system of claim 3,
when the vehicle metering server is disconnected to obtain the terminal positioning coordinate and the vehicle pseudo positioning coordinate in the training time, fitting a prediction vector path according to the obtained training vector path, the training starting point coordinate, the training terminal coordinate and the high-precision map data;
when the vehicle metering server acquires the terminal positioning coordinate and the vehicle pseudo positioning coordinate again in the training time, judging whether the terminal positioning coordinate and the actual vehicle coordinate are in the predicted vector path;
and the vehicle metering server terminates the driving school training in the training time when judging that the terminal positioning coordinate and the actual vehicle coordinate are not in the predicted vector path.
6. The multi-unit differential positioning Beidou navigation training system of claim 3,
the vehicle inventory culture server acquires the terminal positioning coordinate and the coordinate difference vector of the actual vehicle coordinate;
and the vehicle training server terminates the driving school training in the training time when judging that the linear distance of the coordinate difference vector is greater than or equal to a distance threshold value.
7. The multi-unit differential positioning Beidou navigation training system of claim 1,
the vehicle training server implements the speed information of the driving school vehicle according to the change of the training vector path in unit time, and writes the speed information into the timing training data.
8. The multi-unit differential positioning Beidou navigation training system of claim 1,
the vehicle banking server is installed in the driving school vehicle.
9. A big Dipper training method with multi-unit differential positioning is characterized in that,
the method comprises the following steps:
a vehicle positioning device acquires first positioning information of a vehicle in a driving school according to at least one first Beidou satellite positioning signal and sends the first positioning information to the vehicle banking server;
a nominal base station acquires second positioning information according to at least one second Beidou satellite positioning signal and sends the second positioning information to the vehicle banking server;
a teacher portable terminal acquires third positioning information according to at least one third Beidou satellite positioning signal and sends the third positioning information to the vehicle banking server, and the teacher portable terminal acquires and sends student identity information, vehicle information of the driving school vehicle and teacher identity information to the vehicle banking server;
the vehicle metering server acquires the actual vehicle coordinates of the driving school vehicle according to the first positioning information, the second positioning information and the third positioning information, and acquires a training vector path in real time within training time according to the actual vehicle coordinates;
the vehicle training server establishes timing training data within the training time according to the vehicle information, the instructor identity information and the training vector path;
the vehicle timing training server provides at least one callable window, and the window displays the timing training data.
10. The multi-unit differential positioning Beidou navigation training method according to claim 9,
the vehicle metering server acquires a vehicle pseudo-positioning coordinate according to the first positioning information;
the vehicle metering server acquires the current minimum administrative area where the vehicle of the driving school is located according to the vehicle pseudo-positioning coordinates, and matches at least one nominal base station according to the minimum administrative area;
the vehicle metering server acquires an actual base station coordinate according to the matched second positioning information, and acquires a first correction parameter according to the difference between the theoretical base station coordinate of the nominal base station and the actual base station coordinate;
the vehicle metering server acquires a terminal positioning coordinate according to the third positioning information and acquires a second correction parameter according to the difference between the terminal positioning coordinate and the vehicle positioning coordinate;
and the vehicle inventory-cultivation server corrects the vehicle pseudo-positioning coordinate into the actual vehicle coordinate according to the first correction parameter and the second correction parameter.
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