CN112255659A - Positioning navigation system for tunnel and navigation method thereof - Google Patents
Positioning navigation system for tunnel and navigation method thereof Download PDFInfo
- Publication number
- CN112255659A CN112255659A CN202010937097.4A CN202010937097A CN112255659A CN 112255659 A CN112255659 A CN 112255659A CN 202010937097 A CN202010937097 A CN 202010937097A CN 112255659 A CN112255659 A CN 112255659A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- navigation
- base station
- positioning
- radio frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention provides a positioning navigation system and a navigation method for a tunnel, wherein a radio frequency matrix base station is arranged in the tunnel at a certain interval, and a user mobile phone terminal converts a radio frequency signal into an analog GNSS signal by receiving the radio frequency signal sent by the base station and combining a map application APP built in the mobile phone terminal, thereby continuously providing positioning navigation service in the tunnel. The invention has the advantages that the invention can realize the continuous providing of the positioning navigation service in the tunnel, thereby the accumulated error of positioning is smaller, and the invention is suitable for the application of the tunnel with a plurality of exits and entrances in a long distance.
Description
Technical Field
The invention relates to a positioning navigation technology, in particular to a positioning navigation system for a tunnel and a navigation method thereof.
Background
In recent years, the scale of tunnel construction in China is continuously enlarged, particularly urban tunnels, the functional form of the tunnel is increasingly diversified and complicated, and the tunnel construction is developed towards growth and networking. The tunnel is used as a closed structure body, the clear height is limited, the size of the sign layout is limited, the sign layout is easy to be shielded by side walls and the like, the problem of poor identifiability of the sign in the tunnel generally exists, and the traffic guidance efficiency in the tunnel needs to be improved. Due to the characteristics of multipoint access and networking, traffic organizations such as each access and exit, division and confluence areas and the like in the tunnel are complex, effective traffic guidance is lacked, and the potential safety hazard of tunnel driving is large.
At present, a positioning navigation means depending on a GNSS technology and an accurate navigation tunnel of a vehicle can be realized in a wide range. However, because the traditional navigation relies on the GPS/BDS signal, the used frequency band is the microwave frequency band, the diffraction and penetration capabilities are poor, and the application in the tunnel environment cannot be realized. Once a vehicle enters a tunnel, the navigation of the conventional navigation system is interrupted because the conventional navigation system cannot receive a GPS/BDS signal, and the vehicle faces the problems of positioning and road finding. In addition, although the application in the field of tunnel navigation also includes inertial navigation technology and the like, which obtains information of speed, displacement and rotation angle of a moving carrier through integration by means of sensors, when a vehicle runs in a tunnel for a long time and a plurality of branch openings exist in the tunnel, the accumulated error is large, and the application in the tunnel with a long distance and a plurality of entrance and exit is not suitable.
Disclosure of Invention
The invention aims to provide a positioning navigation system for a tunnel and a navigation method thereof aiming at the defects of the prior art. The system deploys the radio frequency matrix base stations in the tunnel at certain intervals, and the user mobile phone terminal converts radio frequency signals into analog GNSS signals by receiving the radio frequency signals sent by the base stations and combining a map application APP built in the mobile phone terminal, thereby continuously providing positioning and navigation services in the tunnel.
The object of the invention is achieved by the following technical scheme, and the positioning navigation system for the tunnel is characterized by comprising the following components:
the radio frequency matrix base station is deployed in the tunnel at certain intervals and transmits position information by transmitting Bluetooth broadcast signals and data packets;
the terminal comprises a mobile phone and vehicle-mounted navigation equipment and is used for receiving Bluetooth broadcast signals, calculating the coordinate position of the terminal and providing a navigation function;
and the base station management cloud platform is connected with the base station through a wireless signal and is used for monitoring the state of the base station and managing operation and maintenance.
Furthermore, a plurality of Bluetooth units are arranged in the radio frequency matrix base station, and the Bluetooth units are arranged according to a certain array type;
the radio frequency matrix base station is internally provided with a wifi or cellular network communication chip, is communicated with base station cloud management and is used for sending self running state information to the cloud platform.
Further, the user terminal comprises a positioning navigation application APP, and the navigation application APP is a general navigation application or a customized navigation application APP;
the navigation application APP is internally provided with a positioning engine SDK and is used for analyzing Bluetooth broadcast signals and calculating three-dimensional coordinates of the user terminal;
the application navigation APP receives Bluetooth broadcast signals sent by a plurality of Bluetooth units in at least one base station to complete positioning, and positioning accuracy is improved through an algorithm level;
the map built in the navigation application APP calibrates the spatial position of the tunnel section where the radio frequency matrix base station is arranged in advance, and the calibration information comprises a tunnel start and end point coordinate, a tunnel route pile-by-pile coordinate and the like, so that the precision requirement required by positioning and navigation is met.
The invention also provides a navigation method of the positioning navigation system for the tunnel, which is used for switching the navigation mode in the tunnel section to complete continuous positioning service.
In order to achieve the purpose, the technical scheme of the invention is as follows: a navigation method for a positioning navigation system of a tunnel, characterized in that the method comprises the steps of:
s1, the navigation application APP judges that the vehicle is about to drive into the tunnel section based on the tunnel section calibration information of the radio frequency matrix base station contained in the built-in map;
s2, stopping positioning by the navigation application APP through the GNSS signals; meanwhile, the navigation application APP reminds the user to open the user terminal Bluetooth switch or automatically opens the user terminal Bluetooth switch under the condition of obtaining user authorization in advance;
s3, switching a navigation application APP to a tunnel navigation mode, and calculating self three-dimensional coordinates by a built-in Bluetooth unit of the user terminal through receiving radio frequency matrix base station wireless signals and data packets arranged in a tunnel to complete positioning and navigation;
s4, the navigation application APP judges that the vehicle is about to exit the tunnel section based on the tunnel section calibration information of the radio frequency matrix base station contained in the built-in map;
and S5, switching the navigation application APP to a conventional road section navigation mode, and calculating the self three-dimensional coordinate by receiving the GNSS signal to complete the positioning navigation operation.
The system deploys the radio frequency matrix base stations in the tunnel at certain intervals, and the user mobile phone terminal converts radio frequency signals into analog GNSS signals by receiving the radio frequency signals sent by the base stations and combining a map application APP built in the mobile phone terminal, thereby continuously providing positioning and navigation services in the tunnel. The invention has the advantages that the invention can realize the continuous providing of the positioning navigation service in the tunnel, thereby the accumulated error of positioning is smaller, and the invention is suitable for the application of the tunnel with a plurality of exits and entrances in a long distance.
Drawings
FIG. 1 is a schematic structural diagram of a navigation system according to the present invention.
Fig. 2 is a plan view of a conventional road section of a tunnel navigation system according to a preferred embodiment of the present invention.
Fig. 3 is a plan view of a merging/merging flow path section of a tunnel navigation system according to a preferred embodiment of the present invention.
FIG. 4 is a flowchart of a navigation method according to the present invention.
Detailed Description
The features of the present invention and other related features are further described in detail below by way of examples in connection with the accompanying drawings for the understanding of those skilled in the art, the examples are only for the purpose of illustrating the present invention and do not limit the scope of the present invention:
example (b): the embodiment relates to a positioning navigation system for a tunnel and a navigation method thereof.
As shown in fig. 1, the system includes:
the system comprises a radio frequency matrix base station, a plurality of Bluetooth units and a plurality of Bluetooth modules, wherein the plurality of Bluetooth units are arranged in the radio frequency matrix base station and are arranged according to a certain array pattern;
the radio frequency matrix base station is internally provided with a wifi or cellular network communication chip, can communicate with a base station cloud management platform, and periodically or in real time sends self running state information to the cloud platform for operation and maintenance of base station equipment;
the radio frequency matrix base station is deployed in a tunnel at certain intervals, and the intervals can be in the range of 20-40 m;
the radio frequency matrix base station transmits position information by transmitting Bluetooth broadcast signals and data packets;
the radio frequency matrix base station can be connected to a tunnel strong electric system to supply power in an active mode.
A user terminal, wherein the terminal includes but is not limited to a mobile phone and a vehicle-mounted navigation device, needs to support a protocol of more than 4.2 of Bluetooth, and is used for receiving a broadcast signal sent by a radio frequency matrix base station;
the map navigation application APP built in the terminal can be a general navigation application APP such as a Gauss map, a Baidu map and the like, and can also be a specially customized and developed map navigation application; map navigation applications are classified into at least a conventional mode (i.e., a GNSS positioning service mode) and a tunnel positioning mode (a radio frequency matrix-based base station positioning service mode); the map navigation application APP analyzes a Bluetooth broadcast signal and a data packet sent by a radio frequency matrix base station through a built-in positioning engine SDK, and is used for calculating the coordinate position of the map navigation application APP and providing a navigation function in a tunnel;
the navigation application APP is used for inputting tunnel section information of the radio frequency matrix base station in advance, the tunnel section information comprises tunnel section geographical positions, tunnel starting and finishing point coordinates, tunnel route pile-by-pile coordinates and the like, and the accuracy requirement required by positioning and navigation is met.
And the base station management cloud platform is connected with the base station through WIFI or a cellular network, and is used for receiving the running state information of the base station, pushing and updating the firmware of the base station and the like, and timely operating and maintaining the base station.
Fig. 2 is a plan view of a conventional section of a tunnel where radio frequency matrix base stations according to a preferred embodiment of the present invention are located, where 101 is a radio frequency matrix base station, 102 is a top plate of a tunnel structure, 103 is a design center line of the tunnel, and 104 is a side wall of the tunnel.
The radio frequency matrix base station 101 is firmly fixed on a tunnel top plate, and is guaranteed not to fall off due to vibration. The radio frequency matrix base stations are installed in a staggered mode along the center line, and the distance between every two adjacent base stations along the center line is preferably 20-40 m.
Fig. 3 is a plan layout view of the rf matrix base stations in the tunnel branching and merging section according to a preferred embodiment of the present invention, in which 210 is a main line of the tunnel, 220 is a tunnel ramp, 201 is the rf matrix base station, 202 is a top plate of the tunnel, 203 is a center line of the tunnel, and 204 is a side wall of the tunnel.
Special attention should be paid to arrangement of radio frequency matrix base stations at the junction 205 of the main line of the tunnel and the ramp to ensure that signals at the branch and junction of the tunnel are continuous, the arrangement mode of the main line of the tunnel and the rest road sections of the ramp is consistent with that of a conventional road section, and the radio frequency matrix base stations are preferably arranged at intervals of 20-40 m.
Fig. 4 is a flowchart of a navigation method of the present invention, which is used for switching a navigation mode inside and outside a tunnel to complete a continuous positioning service:
the navigation method starts in step 401, a navigation application APP is in a conventional navigation mode, and the three-dimensional coordinates of the navigation application APP are calculated through GNSS satellite signals, so that vehicle positioning navigation is completed.
if the user is about to enter the tunnel, the method proceeds to step 403, and the user is reminded to turn on a bluetooth switch of the user terminal or the bluetooth switch is automatically turned on under the condition of obtaining authorization in advance;
next, step 404, the navigation application APP is switched to an underground navigation mode, the calculation of the self coordinates through the GNSS signals is stopped, and the user terminal calculates the self position through receiving the bluetooth broadcast signals and the data packets of the radio frequency matrix base stations arranged in the tunnel, so as to complete continuous positioning; the application navigation terminal needs to receive the Bluetooth broadcast sent by a plurality of Bluetooth units in at least one base station to complete positioning, and improves the positioning precision through an algorithm level.
Next, step 405, the navigation application APP judges whether the vehicle is about to exit the tunnel according to built-in tunnel geometric position information provided with the radio frequency matrix base station; and if the vehicle is about to exit the tunnel, switching to a conventional navigation mode in time, and calculating the position of the vehicle by receiving the GNSS signals to finish continuous navigation.
Claims (4)
1. A positioning navigation system for a tunnel, characterized in that the system comprises:
the radio frequency matrix base station is deployed in the tunnel at certain intervals and transmits position information by transmitting Bluetooth broadcast signals and data packets;
the terminal comprises a mobile phone and a vehicle-mounted navigation device, and is used for receiving Bluetooth broadcast signals, calculating the coordinate position of the terminal and providing a navigation function;
and the base station management cloud platform is connected with the base station through a wireless signal and is used for monitoring the state of the base station and managing operation and maintenance.
2. The system as claimed in claim 1, wherein a plurality of bluetooth units are built in the radio frequency matrix base station, and the bluetooth units are arranged in a certain array;
the radio frequency matrix base station is internally provided with a wifi or cellular network communication chip, can be in cloud management communication with the base station and is used for sending self running state information to the cloud platform.
3. The positioning and navigation system for tunnel according to claim 1, wherein said user terminal includes a positioning and navigation application APP, said navigation application APP being a generic navigation application or a customized navigation application APP;
the navigation application APP is internally provided with a positioning engine SDK and is used for analyzing Bluetooth broadcast signals and calculating three-dimensional coordinates of the user terminal;
the application navigation APP receives Bluetooth broadcast signals sent by a plurality of Bluetooth units in at least one base station to complete positioning, and positioning accuracy is improved through an algorithm level;
the map built in the navigation application APP calibrates the spatial position of the tunnel section where the radio frequency matrix base station is arranged in advance, and the calibration information comprises a tunnel start and end point coordinate, a tunnel route pile-by-pile coordinate and the like, so that the precision requirement required by positioning and navigation is met.
4. A navigation method for a positioning navigation system of a tunnel, characterized in that the method comprises the steps of:
s1, the navigation application APP judges that the vehicle is about to drive into the tunnel section based on the tunnel section calibration information of the radio frequency matrix base station contained in the built-in map;
s2, stopping positioning by the navigation application APP through the GNSS signals; meanwhile, the navigation application APP reminds the user to open the user terminal Bluetooth switch or automatically opens the user terminal Bluetooth switch under the condition of obtaining user authorization in advance;
s3, switching a navigation application APP to a tunnel navigation mode, and calculating self three-dimensional coordinates by a built-in Bluetooth unit of the user terminal through receiving radio frequency matrix base station wireless signals and data packets arranged in a tunnel to complete positioning and navigation;
s4, the navigation application APP judges that the vehicle is about to exit the tunnel section based on the tunnel section calibration information of the radio frequency matrix base station contained in the built-in map;
and S5, switching the navigation application APP to a conventional road section navigation mode, and calculating the self three-dimensional coordinate by receiving the GNSS signal to complete the positioning navigation operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010937097.4A CN112255659A (en) | 2020-09-08 | 2020-09-08 | Positioning navigation system for tunnel and navigation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010937097.4A CN112255659A (en) | 2020-09-08 | 2020-09-08 | Positioning navigation system for tunnel and navigation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112255659A true CN112255659A (en) | 2021-01-22 |
Family
ID=74231597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010937097.4A Pending CN112255659A (en) | 2020-09-08 | 2020-09-08 | Positioning navigation system for tunnel and navigation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112255659A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
| CN114630269A (en) * | 2022-02-28 | 2022-06-14 | 北京百度网讯科技有限公司 | Signal processing method, device, equipment and storage medium |
-
2020
- 2020-09-08 CN CN202010937097.4A patent/CN112255659A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
| CN114630269A (en) * | 2022-02-28 | 2022-06-14 | 北京百度网讯科技有限公司 | Signal processing method, device, equipment and storage medium |
| CN114630269B (en) * | 2022-02-28 | 2024-01-09 | 北京百度网讯科技有限公司 | Signal processing method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100520157B1 (en) | A System and Method For Providing Traffic Information based on Ad Hoc Network | |
| US7355525B2 (en) | Vehicle communication system | |
| CN101882373B (en) | Motorcade maintaining method and vehicle-mounted communication system | |
| CN109118794A (en) | Vehicle positioning method, device and terminal device | |
| US20060253226A1 (en) | System and method of detecting and navigating to empty parking spaces | |
| US11265682B2 (en) | Systems and methods for determining a location of an electronic device using bilateration | |
| CN102930738A (en) | Vehicle positioning and traffic flow detection system and method | |
| CN104170429A (en) | Wireless communication apparatus | |
| CN112255659A (en) | Positioning navigation system for tunnel and navigation method thereof | |
| ES2382951T5 (en) | Procedure and devices for generating toll information in a road toll system | |
| CN109073391A (en) | Utilize the Vehicular navigation system and method for the location assistance from mesh network | |
| CN106408930A (en) | Method and apparatus for creating driving fleet | |
| KR20200036071A (en) | Intelligent Platforms and Systems of Automated Parking and Calling Car by Smart and Integrated Autonomous Driving Car Control System | |
| CN106364526B (en) | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system | |
| US20010018344A1 (en) | Method and devices for determining movement data of a mobile station | |
| KR20170015585A (en) | Navigation system using of bluetooth low energy beacon device, and thereof service method | |
| KR19980068114A (en) | Comprehensive Traffic Information Management System Using Mobile Phone | |
| ES2501846T3 (en) | Procedure for radio communication between a radio beacon and an on-board unit as well as associated beacon and on-board unit | |
| CN101795466A (en) | Wireless micropower network positioning system and positioning method thereof | |
| JP2021158473A (en) | Radio communication system and radio communication method | |
| Mishra et al. | A Novel and Cost Effective Approach to Public Vehicle Tracking System | |
| ES2355130T3 (en) | PROCEDURE FOR THE DETERMINATION OF DATA RELATING TO THE SITUATION OF TRAFFIC IN A ROAD NETWORK, AND TERMINAL DEVICE. | |
| JP4239996B2 (en) | POSITION INFORMATION COLLECTION SYSTEM AND DEVICE, METHOD, AND PROGRAM USED FOR THE SYSTEM | |
| CN202770449U (en) | Automobile navigation system | |
| KR100683556B1 (en) | Mobile phone based real time navigation-on-demand method, navigation system, the mobile phone and navigation server |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |