CN112147657A - Differential positioning system based on PC5 interface - Google Patents
Differential positioning system based on PC5 interface Download PDFInfo
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- CN112147657A CN112147657A CN202011158688.8A CN202011158688A CN112147657A CN 112147657 A CN112147657 A CN 112147657A CN 202011158688 A CN202011158688 A CN 202011158688A CN 112147657 A CN112147657 A CN 112147657A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention relates to a differential positioning system based on a PC5 interface, which comprises a calibration server, a Beidou reference station, an RSU and an OBU, wherein the Beidou reference station is connected with the calibration server through a wired or wireless network to establish NTRIP service, RTCM differential information observed by the Beidou reference station is transmitted to the calibration server through a specified port, TCP/IP connection is established between the calibration server and the RSU, and the RTCM differential information of the Beidou reference station is transmitted to the corresponding RSU according to the corresponding relationship between the position information list of the RSU and the position information list and the network coverage range of the Beidou reference station. The system can realize the high-efficiency communication of the RTCM differential information between the RSU and the OBU of the mobile user terminal, provides high-precision positioning coverage under the C-V2X network, ensures the normal operation of the RTK/RTD module, protects the position privacy of the user, can save power consumption, and has stable performance and strong practicability.
Description
Technical Field
The invention relates to a differential positioning system based on a PC5 interface, and belongs to the technical field of Internet of vehicles communication.
Background
The existing mobile communication network 4G/5G has insufficient coverage, RTK can not communicate with the calibration server with high efficiency, which causes the positioning accuracy to be reduced, the existing global navigation satellite system such as the Beidou global positioning system (BDS) can provide navigation and positioning services with the accuracy of several meters, the error introduced in the Beidou satellite signals is corrected by installing a Beidou reference station at a fixed position and using the known position to calculate the error between the observed pseudo range and the theoretically calculated pseudo range, the error parameter is transmitted to a mobile user end through a data link of the network 4G/5G according to an RTCM protocol, the user end combines the self GNSS observation information and the RTCM differential information according to the RTCM protocol, and the high-accuracy differential positioning result is calculated through data processing, the precision of centimeter level can be obtained by adopting the RTK differential correction technology, and the Beidou reference station (CORS) network is deployed and continuously operated, to provide RTK services over a wide range, the calibration is most accurate when the mobile user end is close to the beidou reference station that receives its calibration, and the accuracy of the calibration is worse as the distance increases. The existing RTK technology is to configure a network 4G/5G for a mobile user terminal, establish a data link of RTCM differential information, report preliminary location information of a user to a calibration server to track the mobile user terminal, and send different RTCM differential information by tracking location movement of the user terminal, which may cause privacy leakage of the user.
Disclosure of Invention
The invention aims to provide a high-precision positioning technology for vehicles based on a PC5 interface of a C-V2X network, and aims to solve the problems of insufficient coverage of a communication network 4G/5G, low communication efficiency, low precision, privacy leakage and the like of a differential positioning system based on a PC5 interface.
The differential positioning system based on the PC5 interface comprises a calibration server, a Beidou reference station, an RSU and an OBU, wherein the Beidou reference station is connected with the calibration server through a wired or wireless network to establish NTRIP service, RTCM differential information observed by the Beidou reference station is transmitted to the calibration server through a specified port, TCP/IP connection is established between the calibration server and the RSU, and the RTCM differential information of the Beidou reference station is transmitted to the corresponding RSU according to the corresponding relation between the position information list of the RSU and the position information list and the coverage range of the Beidou reference station.
The RSU comprises a C-V2X wireless module, an encoding module, a processor, a network module and a positioning module, wherein the processor coordinates the work of the C-V2X wireless module, the encoding module, the network module and the positioning module, the positioning module obtains the position information of the RSU, the network module receives RTCM differential information sent by a calibration server, the RTCM differential information is analyzed through the NTRIP client function of the processor, the RTCM differential information is encoded through an encoder of C-V2X, and the RTCM differential information is sent through a PC5 interface of the C-V2X wireless module in a broadcasting mode.
The OBU comprises a C-V2X wireless module, a decoding module, a processor, an RTK/RTD module and a 4G/5G module, receives through a PC5 interface of C-V2X, and decodes through a decoder of C-V2X to obtain RTCM differential information.
The OBU can simultaneously obtain RTCMb differential information passing through the 4G/5G module and RTCMa differential information passing through the C-V2X module, the processor is provided for the RTK/RTD module according to the principle that RTCMa is preferred, namely only the RTCMa is provided for the RTK/RTD module to carry out differential positioning no matter whether the RTCMb is received or not as long as the RTCMa differential information is obtained, and the 4G/5G module can be closed to save power consumption and protect privacy.
The Beidou reference stations are multiple.
The invention provides a differential positioning system based on a PC5 interface, which comprises a calibration server, a Beidou reference station, an RSU and an OBU, wherein the Beidou reference station is connected with the calibration server through a wired or wireless network to establish NTRIP service, RTCM differential information observed by the Beidou reference station is transmitted to the calibration server through a specified port, TCP/IP connection is established between the calibration server and the RSU, and the RTCM differential information of the Beidou reference station is transmitted to the corresponding RSU according to the corresponding relationship between the position information list of the RSU and the position information list and the coverage range of the Beidou reference station.
The system realizes efficient communication of RTCM differential information between the RSU and the OBU of a mobile user terminal by designing a differential positioning system among the reference station, the RSU and the OBU, based on a differential positioning and communication mode of a PC5 interface and by encoding, decoding and transmitting differential data, provides high-precision positioning coverage under a C-V2X network, ensures normal operation of an RTK/RTD module, simultaneously does not need to report the position of the mobile user terminal under the C-V2X mode, protects position privacy of a user, and solves the problem that RTK cannot efficiently communicate with a calibration server and positioning precision is reduced under the condition that coverage of the existing mobile communication network 4G/5G is insufficient.
Drawings
Fig. 1 is a schematic application diagram of a differential positioning system based on a PC5 interface according to the present invention;
fig. 2 is a schematic block diagram of a differential positioning system based on a PC5 interface according to the present invention;
FIG. 3 is a flow chart of a differential positioning system based on a PC5 interface according to the present invention;
fig. 4 is a corresponding relationship diagram of RTCM between an RSU and a beidou reference station in the differential positioning system based on the PC5 interface.
Detailed Description
Referring to fig. 1 to 4, the four figures show general block diagrams of an embodiment of a differential positioning system based on a PC5 interface according to the present invention.
Wherein V2X is Vehicle networking Vehicle to event;
the OBU is an On-Board Unit which is mounted On a vehicle;
the RSU is a Road Side Unit and is arranged on the Road Side;
and (3) RTCM: protocol of GNSS differential signal format proposed by Radio Technical Commission for Markime Services (RTCM) protocols International Maritime industry Radio Technical Commission.
NTRIP: network Transport of RTCM via Internet Protocol based on the RTCM network transmission Protocol;
PC 5: a pass-through communication interface in a C-V2X network;
the system comprises a calibration server, a Beidou reference station, an RSU and an OBU, wherein the Beidou reference station is connected with the calibration server through a wired or wireless network to establish NTRIP service, RTCM differential information observed by the Beidou reference station is transmitted to the calibration server through a designated port, the calibration server stores the RTCM differential information and establishes TCP/IP connection with the RSU, the RTCM differential information of the Beidou reference station is transmitted to the corresponding RSU according to a position information list of the RSU and a position information list of the Beidou reference station and a corresponding relation between the RTCM differential information and the RSU according to a coverage range, the RSU road side unit comprises a C-V2X wireless module, an encoding module, a processor, a network module and a positioning module, the processor coordinates the C-V2X wireless module, the encoding module, the network module and the positioning module to work, the positioning module obtains the position information of the RSU, the network module receives the RTCM difference information sent by the calibration server, analyzes the RTCM difference information through the NTRIP client function of the processor, codes the RTCM difference information through the encoder of C-V2X, and sends the RTCM difference information through the PC5 interface of the C-V2X wireless module in a broadcasting mode.
The OBU vehicle-mounted unit comprises a C-V2X wireless module, a decoding module, a processor, an RTK/RTD module and a 4G/5G module, receives the RTCMB differential information through a PC5 interface of C-V2X, decodes the RTCMB differential information through a decoder of C-V2X to obtain RTCM differential information, can simultaneously obtain the RTCMb differential information of the 4G/5G module and the RTCMa differential information of the C-V2X module, and provides the RTCMa differential information to the RTK/RTD module according to the principle of RTCMa priority, namely only providing the RTCMa differential information to the RTK/RTD module for differential positioning no matter whether the RTCMb is received or not, and can close the 4G/5G module.
The OBU vehicle-mounted unit differential positioning process comprises the steps of primary positioning, uploading primary positioning information and obtaining RTCM differential information in a 4G/5G mode, obtaining RTCM differential information in a C-V2X mode, and judging that RTCMa/RTCMb and RTK/RTD modules are accurately positioned by a processor, as shown in figure 3. The OBU differential positioning data link comprises 4G/5G and C-V2X, and the difference between the two types is as follows: acquiring RTCM differential information in a 4G/5G mode, reporting position data of the RTCM differential information to a calibration server in advance, and sending corresponding RTCM differential information by the calibration server according to the position information; the RTCM differential information is obtained through the C-V2X, position data of the vehicle does not need to be reported, the coverage area of the RSU of the V2X is 300-500 m generally, a Beidou reference station can serve RTK service within the range of 10-50 km generally, therefore, the single RSU can be considered to have the same RTCM differential information in the coverage area, a data link is established between the calibration server and the RSU, the RTCM differential information in the corresponding area is reported through the RSUs as shown in figure 4, and the OBU on the vehicle only needs to receive the RSU information in the moving process and does not need to report the position data of the OBU of the vehicle. In the implementation process, the dual-mode modes of 4G/5G and C-V2X are adopted to realize the complementarity of the two networks, when the network is positioned in the coverage range of the C-V2X, the C-V2X network is preferentially adopted, and the 4G/5G mode can be closed, so that the power consumption is saved and the privacy is protected.
The system can realize the high-efficiency communication of the RTCM differential information between the RSU and the OBU of the mobile user side, provides high-precision positioning coverage under the C-V2X network, ensures the normal operation of the RTK/RTD module, simultaneously, the position of the mobile user side does not need to be reported under the C-V2X mode, protects the position privacy of the user, and simultaneously solves the problem that the positioning precision is reduced because the RTK can not efficiently communicate with a calibration server under the condition that the coverage of the existing mobile communication network 4G/5G is not enough, and can save power consumption and has strong practicability.
Claims (5)
1. A differential positioning system based on a PC5 interface, characterized in that: including calibration server, big dipper reference station, RSU, OBU, connect through wired or wireless network between big dipper reference station and the calibration server, establish NTRIP service, the RTCM difference information that big dipper reference station surveyed transmits to calibration server through appointed port, establish TCP/IP connection between calibration service and the RSU to establish corresponding relation between them according to RSU's positional information list and big dipper reference station's positional information list and network coverage, send big dipper reference station RTCM difference information for the RSU that corresponds.
2. The differential positioning system based on the PC5 interface of claim 1, wherein: the RSU comprises a C-V2X wireless module, an encoding module, a processor, a network module and a positioning module, wherein the processor coordinates the work of the C-V2X wireless module, the encoding module, the network module and the positioning module, the positioning module obtains the position information of the RSU, the network module receives RTCM differential information sent by a calibration server, the RTCM differential information is analyzed through the NTRIP client function of the processor, the RTCM differential information is encoded through an encoder of C-V2X, and the RTCM differential information is sent through a PC5 interface of the C-V2X wireless module in a broadcasting mode.
3. The differential positioning system based on the PC5 interface of claim 1, wherein: the OBU comprises a C-V2X wireless module, a decoding module, a processor, an RTK/RTD module and a 4G/5G module, receives through a PC5 interface of C-V2X, and decodes through a decoder of C-V2X to obtain RTCM differential information.
4. The differential positioning system based on the PC5 interface of claim 3, wherein: the OBU can simultaneously obtain RTCMb differential information passing through the 4G/5G module and RTCMa differential information passing through the C-V2X module, and the processor provides the RTK/RTD module with the RTCMa priority principle, namely only providing the RTCMa to the RTK/RTD module for differential positioning and closing the 4G/5G module no matter whether the RTCMb is received or not as long as the RTCMa differential information is obtained.
5. The differential positioning system based on the PC5 interface of claim 1, wherein: the Beidou reference stations are multiple.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011158688.8A CN112147657A (en) | 2020-10-26 | 2020-10-26 | Differential positioning system based on PC5 interface |
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| CN202011158688.8A CN112147657A (en) | 2020-10-26 | 2020-10-26 | Differential positioning system based on PC5 interface |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112689236A (en) * | 2021-01-15 | 2021-04-20 | 北京斯年智驾科技有限公司 | RTK transmission system and method based on V2X networking technology |
| WO2023005707A1 (en) * | 2021-07-28 | 2023-02-02 | 南京莱斯网信技术研究院有限公司 | Pc5 short-range communication roadside device that provides high-precision positioning service |
-
2020
- 2020-10-26 CN CN202011158688.8A patent/CN112147657A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112689236A (en) * | 2021-01-15 | 2021-04-20 | 北京斯年智驾科技有限公司 | RTK transmission system and method based on V2X networking technology |
| CN112689236B (en) * | 2021-01-15 | 2024-03-15 | 北京斯年智驾科技有限公司 | RTK transmission system and method based on V2X networking technology |
| WO2023005707A1 (en) * | 2021-07-28 | 2023-02-02 | 南京莱斯网信技术研究院有限公司 | Pc5 short-range communication roadside device that provides high-precision positioning service |
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