CN112305577A - Vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning - Google Patents
Vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 3
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention relates to a vehicle-mounted positioning system, in particular to a vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning, which comprises a controller and a satellite positioning system, wherein the controller is connected with a positioning data receiving module used for receiving positioning data sent by the satellite positioning system, the controller is connected with a positioning data screening module used for screening the positioning data, the controller is connected with a data processing module used for processing the screened positioning data, the controller is connected with an attitude data acquisition module used for acquiring attitude data, the controller is connected with an attitude data judgment module used for effectively judging the attitude data, and the controller is connected with an attitude data processing module used for processing the effective attitude data; the technical scheme provided by the invention can effectively overcome the defect that the satellite positioning system can not accurately position in a special environment in the prior art.
Description
Technical Field
The invention relates to a vehicle-mounted positioning system, in particular to a vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning.
Background
With the development of science and technology and the continuous progress of the social living standard, the bus becomes an essential transportation travel tool in the life of people. The vehicle-mounted host on the traditional bus only adopts a satellite positioning system, common satellite positioning systems comprise a United states Global Positioning System (GPS), a China Beidou satellite positioning System (BDS), a Russian GLONASS positioning system (GLONASS) and a European Union Galileo positioning system (Galileo), the positioning accuracy of the positioning systems is common, errors are measured in meters, and the common positioning requirements can be met.
However, the satellite positioning system is easily affected by the surrounding environment, such as woods, high buildings, etc., and causes a multipath effect, so that the positioning result precision is reduced, and even the positioning is lost, especially in tunnels and under high buildings, the satellite positioning system is basically unavailable, which brings great trouble to the positioning and monitoring work of buses.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides a vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning, which can effectively overcome the defect that a satellite positioning system cannot accurately position in a special environment in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
a vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning comprises a controller and a satellite positioning system, wherein the controller is connected with a positioning data receiving module used for receiving positioning data sent by the satellite positioning system, the controller is connected with a positioning data screening module used for screening the positioning data, and the controller is connected with a data processing module used for processing the screened positioning data;
the controller is connected with an attitude data acquisition module for acquiring attitude data, the controller is connected with an attitude data judgment module for effectively judging the attitude data, the controller is connected with an attitude data processing module for processing the effective attitude data, and the controller is connected with a position calculation module for calculating the position according to the processed attitude data;
the controller is connected with an error judgment module which is used for judging the signal intensity of the satellite positioning system according to the positioning data received by the positioning data receiving module, the error judgment module is used for carrying out error judgment on the positioning data processed by the data processing module and the position data obtained by calculating the position calculation module, the controller is connected with a position judgment module which is used for judging the final positioning position according to the error judgment result, and the controller sends the final positioning position to the monitoring background through the wireless communication module.
Preferably, the positioning data receiving module receives positioning data sent by a plurality of satellite positioning systems, and analyzes flag bits of the positioning data and the number of satellites participating in positioning;
the positioning data screening module is used for screening out the positioning data with the effective zone bit and the quantity of the participating positioning satellites reaching the threshold value.
Preferably, the data processing module optimizes the positioning data according to the weighting coefficients corresponding to the screened positioning data, and performs smoothing processing on the optimized positioning data.
Preferably, the method for determining the weighting coefficient corresponding to the positioning data includes:
acquiring an error coefficient and a signal-to-noise ratio corresponding to the positioning data;
calculating a deviation coefficient corresponding to the positioning data according to the signal-to-noise ratio;
and determining the value range of the weighting coefficient corresponding to the positioning data according to the error coefficient and the deviation coefficient.
Preferably, the attitude data comprises an acceleration data set collected by an accelerometer, an attitude angle data set collected by a gyroscope and a direction angle data set collected by an electronic compass;
the attitude data judgment module respectively judges whether the variances of the acceleration data set, the attitude angle data set and the direction angle data set are smaller than a threshold value;
if the variance is smaller than the threshold, the attitude data processing module calculates the average value corresponding to the data group smaller than the threshold.
Preferably, when the signal strength judgment module judges that the signal strength of the satellite positioning system is lower than the threshold value, the position judgment module performs fusion calculation on the positioning data processed by the previous data processing module and the attitude data processed by the attitude data processing module to obtain a current positioning position, and the position judgment module sends the current positioning position to the monitoring background through the wireless communication module;
otherwise, the position calculation module performs position calculation according to the processed attitude data, and when the error judgment module judges that the positioning data processed by the data processing module and the error between the position data calculated by the position calculation module are within the threshold range, the position judgment module sends the positioning data processed by the data processing module to the monitoring background through the wireless communication module.
Preferably, the signal strength determining module determines the signal strength of the satellite positioning system according to whether the positioning data receiving module can clearly and continuously receive the positioning data sent by the satellite positioning system.
Preferably, the system further comprises a data storage module connected with the controller and used for storing data of a monitoring background sending station through a wireless communication module, a position comparison module connected with the controller and used for comparing the station data with the current positioning position and the positioning data processed by the station data and the data processing module, and a vehicle-mounted alarm module connected with the controller.
Preferably, when the position comparison module judges that the current positioning position and the station data and the positioning data processed by the data processing module and the station data have position deviation, the controller starts the vehicle-mounted alarm module, and simultaneously the controller sends alarm information to the monitoring background through the wireless communication module.
(III) advantageous effects
Compared with the prior art, the vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning can be used for combined positioning by utilizing a satellite positioning system and an inertial navigation technology, effectively solves the problem that accurate positioning cannot be carried out under the condition that positioning data of the satellite positioning system is lost or drifted, and has the characteristics of high sensitivity, interference resistance and high performance.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model provides an on-vehicle centralized control system based on satellite-inertial navigation combination location, as shown in figure 1, includes controller and satellite positioning system, and the controller links to each other with the positioning data receiving module that is used for receiving satellite positioning system send the positioning data, and the controller links to each other with the positioning data screening module that is used for carrying out the screening to the positioning data, and the controller links to each other with the data processing module that is used for handling the positioning data of selecting.
The positioning data receiving module receives positioning data sent by various satellite positioning systems and analyzes flag bits of the positioning data and the number of satellites participating in positioning;
the positioning data screening module is used for screening out the positioning data with the effective zone bit and the quantity of the participating positioning satellites reaching the threshold value.
The multiple satellite positioning systems include a global positioning system of the united states, a beidou satellite positioning system of china, a guroney positioning system of russia, and a galileo positioning system of the european union. But set up the 5.5mAH button cell of charge-discharge on the location data receiving module, under the outage condition, location data receiving module keeps its last location data and UTC time, restarts the back, and the time of once more location is less than 1 second.
The data processing module optimizes the positioning data according to the weighting coefficients corresponding to the screened positioning data, and carries out smoothing processing on the optimized positioning data, wherein the smoothing processing can be carried out in a Kalman filtering mode.
The method for determining the weighting coefficient corresponding to the positioning data comprises the following steps:
acquiring an error coefficient and a signal-to-noise ratio corresponding to the positioning data;
calculating a deviation coefficient corresponding to the positioning data according to the signal-to-noise ratio;
and determining the value range of the weighting coefficient corresponding to the positioning data according to the error coefficient and the deviation coefficient.
The controller is connected with an attitude data acquisition module for acquiring attitude data, the controller is connected with an attitude data judgment module for effectively judging the attitude data, the controller is connected with an attitude data processing module for processing the effective attitude data, and the controller is connected with a position calculation module for performing position calculation according to the processed attitude data.
The attitude data comprises an acceleration data set acquired by an accelerometer, an attitude angle data set acquired by a gyroscope and a direction angle data set acquired by an electronic compass;
the attitude data judgment module respectively judges whether the variance of the acceleration data set, the attitude angle data set and the direction angle data set is smaller than a threshold value;
if the variance is less than the threshold, the attitude data processing module calculates an average value corresponding to the data group less than the threshold.
The controller is connected with an error judgment module which is used for judging the signal intensity of the satellite positioning system according to the positioning data received by the positioning data receiving module, the controller is connected with the positioning data processed by the data processing module and the error judgment module which is used for judging the error of the position data obtained by calculating the position calculation module, the controller is connected with the position judgment module which is used for judging the final positioning position according to the error judgment result, and the controller sends the final positioning position to the monitoring background through the wireless communication module.
When the signal intensity judgment module judges that the signal intensity of the satellite positioning system is lower than a threshold value, the position judgment module performs fusion calculation on positioning data processed by the previous data processing module and attitude data processed by the attitude data processing module to obtain a current positioning position, and the position judgment module sends the current positioning position to the monitoring background through the wireless communication module;
otherwise, the position calculation module performs position calculation according to the processed attitude data, and when the error judgment module judges the positioning data processed by the data processing module and the error between the position data calculated by the position calculation module is within the threshold range, the position judgment module sends the positioning data processed by the data processing module to the monitoring background through the wireless communication module.
The signal strength judging module judges the signal strength of the satellite positioning system according to whether the positioning data receiving module can clearly and continuously receive the positioning data sent by the satellite positioning system.
The system comprises a controller, a data processing module and a data storage module, wherein the controller is used for storing data of a monitoring background sending station through a wireless communication module, the data storage module is connected with the controller and used for storing the data of the monitoring background sending station, the position comparison module is connected with the controller and used for comparing the data of a station with a current positioning position and the positioning data processed by the station data and the data processing module, and the vehicle-mounted alarm module is connected with the controller.
When the position comparison module judges that the current positioning position and the station data and the positioning data processed by the data processing module have position deviation with the station data, the controller starts the vehicle-mounted alarm module, and meanwhile, the controller sends alarm information to the monitoring background through the wireless communication module.
In the technical scheme, the controller is provided with an interface part, and further comprises a meter panel, a tire pressure monitoring device, a one-key alarm device, an in-vehicle rolling screen, a station section board, a head board, a waist board, a tail board, a passenger flow detection device, a flammable and combustible detection device, a man-machine interaction display terminal and an ADAS active safety device.
The interface part comprises 2 paths of CAN bus interfaces, 1 path of RS-232 interfaces, 2 paths of RS-485 interfaces, 1 USB interface, 1 TF card interface, 7 LAN interfaces, 1 WAN interface, 8 signal input interfaces and 6 signal output interfaces, and CAN realize interconnection and intercommunication of all network equipment in the vehicle.
The instrument panel and the tire pressure monitoring are directly and electrically connected with a CAN bus interface in the interface part, the one-key alarm is directly and electrically connected with an RS-232 interface in the interface part, devices such as an in-vehicle rolling screen, a stop board, a head board, a waist board, a tail board, passenger flow detection, inflammable and explosive detection and the like are directly and electrically connected with an RS-485 interface in the interface part, and a human-computer interaction display terminal and ADAS active safety equipment are electrically connected with 2 LAN ports in the interface part.
In the technical scheme of the application, the controller sends a detection instruction to each peripheral every 5 minutes, reads a return value of each peripheral for analysis, finds that the return value is not in a normal set value or has no return value after analysis, repeatedly sends a command to the peripheral for 3 times independently, and reads the return value for analysis. If the fault information is not in the normal set value or the return value does not exist, the fault information is immediately sent to the monitoring background through the wireless communication module, and the administrator reasonably arranges maintenance personnel to replace the fault equipment on site according to the reported fault information.
In addition, this application technical scheme can also be used for monitoring whether the bus deviates from predetermined route of going, whether stop each way website, whether deviate from the bus lane, can also keep the bus distance, prevents that the vehicle from joining in the dragon and getting into the station.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. A vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning is characterized in that: the device comprises a controller and a satellite positioning system, wherein the controller is connected with a positioning data receiving module used for receiving positioning data sent by the satellite positioning system, the controller is connected with a positioning data screening module used for screening the positioning data, and the controller is connected with a data processing module used for processing the screened positioning data;
the controller is connected with an attitude data acquisition module for acquiring attitude data, the controller is connected with an attitude data judgment module for effectively judging the attitude data, the controller is connected with an attitude data processing module for processing the effective attitude data, and the controller is connected with a position calculation module for calculating the position according to the processed attitude data;
the controller is connected with an error judgment module which is used for judging the signal intensity of the satellite positioning system according to the positioning data received by the positioning data receiving module, the error judgment module is used for carrying out error judgment on the positioning data processed by the data processing module and the position data obtained by calculating the position calculation module, the controller is connected with a position judgment module which is used for judging the final positioning position according to the error judgment result, and the controller sends the final positioning position to the monitoring background through the wireless communication module.
2. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 1, wherein: the positioning data receiving module receives positioning data sent by various satellite positioning systems and analyzes flag bits of the positioning data and the number of satellites participating in positioning;
the positioning data screening module is used for screening out the positioning data with the effective zone bit and the quantity of the participating positioning satellites reaching the threshold value.
3. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning according to claim 2, characterized in that: and the data processing module optimizes the positioning data according to the weighting coefficients corresponding to the screened positioning data and smoothes the optimized positioning data.
4. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 3, wherein: the method for determining the weighting coefficient corresponding to the positioning data comprises the following steps:
acquiring an error coefficient and a signal-to-noise ratio corresponding to the positioning data;
calculating a deviation coefficient corresponding to the positioning data according to the signal-to-noise ratio;
and determining the value range of the weighting coefficient corresponding to the positioning data according to the error coefficient and the deviation coefficient.
5. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 1, wherein: the attitude data comprises an acceleration data set acquired by an accelerometer, an attitude angle data set acquired by a gyroscope and a direction angle data set acquired by an electronic compass;
the attitude data judgment module respectively judges whether the variances of the acceleration data set, the attitude angle data set and the direction angle data set are smaller than a threshold value;
if the variance is smaller than the threshold, the attitude data processing module calculates the average value corresponding to the data group smaller than the threshold.
6. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 1, wherein: when the signal intensity judgment module judges that the signal intensity of the satellite positioning system is lower than a threshold value, the position judgment module performs fusion calculation on positioning data processed by the previous data processing module and attitude data processed by the attitude data processing module to obtain a current positioning position, and the position judgment module sends the current positioning position to a monitoring background through the wireless communication module;
otherwise, the position calculation module performs position calculation according to the processed attitude data, and when the error judgment module judges that the positioning data processed by the data processing module and the error between the position data calculated by the position calculation module are within the threshold range, the position judgment module sends the positioning data processed by the data processing module to the monitoring background through the wireless communication module.
7. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 6, wherein: the signal strength judging module judges the signal strength of the satellite positioning system according to whether the positioning data receiving module can clearly and continuously receive the positioning data sent by the satellite positioning system.
8. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 6, wherein: the system comprises a controller, a data processing module and a data storage module, wherein the controller is used for storing data of a monitoring background sending station through a wireless communication module, the data storage module is connected with the controller and used for storing the data of the monitoring background sending station, the position comparison module is connected with the controller and used for comparing the data of the station with a current positioning position and the data of the station processed by the data processing module, and the vehicle-mounted alarm module is connected with the controller.
9. The vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning of claim 8, wherein: when the position comparison module judges that the current positioning position and the station data and the positioning data processed by the data processing module have position deviation with the station data, the controller starts the vehicle-mounted alarm module, and meanwhile, the controller sends alarm information to the monitoring background through the wireless communication module.
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