CN112689236A - RTK transmission system and method based on V2X networking technology - Google Patents
RTK transmission system and method based on V2X networking technology Download PDFInfo
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Abstract
The application relates to an RTK transmission system and a method based on V2X networking technology, wherein the system comprises: the RTK differential data sending end is respectively connected with the V2X local area networking communication device and the RTK differential data receiving end and is used for configuring a built-in first V2X communication module and an RTK processing module according to preset parameters and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule; the V2X local area networking communication device is used for controlling data forwarding of the RTK data among different nodes; and the RTK differential data receiving end is used for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data and transmitting the original RTK data. By the method and the device, the high-efficiency and reliable transmission of the RTK data multilink is realized, and the positioning accuracy is ensured.
Description
Technical Field
The application relates to the technical field of port operation interactive data processing, in particular to an RTK transmission system and an RTK transmission method based on a V2X networking technology.
Background
With the development and popularization of unmanned technology, more and more closed or semi-open scenes begin to adopt unmanned technology to assist and support the operation process, and the port environment is one of the situations. Since one of the characteristics of the machine is to be able to perform uninterrupted operation for 7 × 24 hours, port unmanned vehicle operation is a future trend and important means to replace conventional port manual operation from the viewpoint of efficiency improvement and cost control. In the whole unmanned technology, the positioning navigation technology is the core, and the positioning aims at providing a method for enabling an unmanned automobile to find the exact position of the unmanned automobile.
Currently, the common positioning technologies used in unmanned vehicles include Global Navigation Satellite System (GNSS), LiDAR positioning, and visual positioning. Positioning based on GNSS is the main means of positioning of the current unmanned vehicle due to the advantages of short observation time, simple operation, all-weather work, low cost and the like, but the GNSS technology can also generate positioning errors due to various reasons, for example, the satellite-borne clock and the clock on the receiver can not be always synchronous to cause time deviation, signals are reflected by the atmosphere and various obstacles in the transmission process to cause the lengthening of the signal transmission path to cause measurement errors, and the positioning errors caused by the reasons can reach 2-10 meters or even more, thus being incapable of meeting the requirements of unmanned driving. RTK positioning has been developed based on the characteristics of GNSS positioning technology. RTK positioning technology receives satellite observations simultaneously from a base station and a rover station. The reference station sends the received data to the rover station in real time, and the rover station integrates the data received by the rover station and the data sent by the reference station to complete differential calculation, so that the spatial relative position relation between the reference station and the rover station is accurately calculated, and the positioning accuracy reaches centimeter level.
At present, two main transmission modes of the RTK include a radio station transmission mode and a network transmission mode, but whichever mode is adopted is limited by surrounding terrain, shelters and an operator network, so that the RTK data cannot be received, and therefore loss difference is generated, and the problem of large deviation of positioning is generated.
At present, no effective solution is provided for the problem that in the related art, data transmission is limited by surrounding terrain, shelters and an operator network, so that RTK data cannot be received, and therefore loss difference is generated, and large deviation is generated in positioning.
Disclosure of Invention
The embodiment of the application provides an RTK transmission system and method based on a V2X networking technology, so as to at least solve the problem that in the related technology, data transmission is limited by surrounding terrain, shelters and an operator network, so that RTK data cannot be received, and therefore loss difference is generated, and large deviation is generated in positioning.
In a first aspect, an embodiment of the present application provides an RTK transmission system based on a V2X networking technology, including an RTK differential data transmitting end, a V2X local area networking communication device, and an RTK differential data receiving end;
the RTK differential data sending end is respectively connected with the V2X local area networking communication device and the RTK differential data receiving end, and is used for configuring a built-in first V2X communication module and an RTK processing module according to preset parameters and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule;
the V2X local area networking communication device is configured to control data forwarding of the RTK data among different nodes;
and the RTK differential data receiving end is used for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data and transmitting the original RTK data.
In some of these embodiments, the RTK differential data transmitter includes an RTK processing module and a first V2X communication module;
the first V2X communication module is connected with the RTK processing module and is used for configuring according to preset parameters and establishing a V2X communication network for RTK data acquisition;
the RTK processing module is connected with the first V2X communication module, and is configured to be built-in according to preset parameters, and process and send the RTK data according to preset rules.
In some embodiments, the V2X local area networking communicator includes a plurality of V2X transceiver terminals, and is configured to establish and maintain a communication network of the V2X transceiver terminals, and control data forwarding of the RTK data among different nodes.
In some embodiments, the V2X transceiver terminal is further configured to communicate with all of the RTK differential data receiving terminals in the area to transmit the RTK data to each of the RTK differential data receiving terminals in real time.
In some of these embodiments, the RTK differential data receiving end includes a second V2X communication module and an RTK differential data output module;
the second V2X communication module is connected to the RTK differential data output module and the V2X transceiver terminal, and is used for receiving the RTK data;
the RTK differential data output module is used for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data to a corresponding object through a corresponding communication port.
In a second aspect, the present invention provides an RTK transmission method based on a V2X networking technology, including:
configuring a first V2X communication module and an RTK processing module which are arranged in the device according to preset parameters, and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule;
maintaining the V2X communication network and controlling the data forwarding of the RTK data among different nodes;
and analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data.
Compared with the related technology, the RTK transmission system and the RTK transmission method based on the V2X networking technology provided by the embodiment of the application utilize an RTK differential data sending end, a V2X local area networking communication device and an RTK differential data receiving end to form a V2X communication network, and the RTK data multilink is efficiently and reliably transmitted among the modules through the V2X communication network, so that the positioning accuracy is ensured; and the problem that the RTK data cannot be received due to the limitation of surrounding terrain, shelter and operator network on data transmission, so that loss difference is generated and large deviation is generated in positioning is solved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of an RTK transmission system based on V2X networking technology provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an RTK differential data transmitting end provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an RTK differential data receiving end provided in an embodiment of the present invention;
fig. 4 is a flowchart of an RTK transmission method based on V2X networking technology provided in an embodiment of the present invention.
In the figure, 100, an RTK differential data transmitting end; 110. an RTK processing module; 120. a first V2X communication module; 200. V2X local area networking communication means; 300. an RTK differential data receiving end; 310. a second V2X communication module; 320. RTK differential data output module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (modules) is not limited to the listed steps or modules but may include additional steps or modules not listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects. As used below, the terms "module," "sub-module," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 1 is a schematic structural diagram of an RTK transmission system based on a V2X networking technology according to an embodiment of the present application, and as shown in fig. 1, the system includes an RTK differential data transmitting terminal 100, a V2X local area networking communication apparatus 200, and an RTK differential data receiving terminal 300;
the RTK differential data transmitting terminal 100 is respectively connected with the V2X local area networking communication device 200 and the RTK differential data receiving terminal 300, and is configured to configure the built-in first V2X communication module 120 and the RTK processing module 110 according to preset parameters, and construct a V2X communication network to perform RTK data acquisition; processing and sending the RTK data according to a preset rule;
the V2X local area networking communication device 200 is configured to control data forwarding of the RTK data between different nodes;
the RTK differential data receiving end 300 is configured to parse and process the RTK data to obtain original RTK data corresponding to the current RTK data, and transmit the original RTK data.
It should be noted that V2X, namely Vehicle-to-event, is one of the support technologies for intelligent automobiles and intelligent transportation. V2X includes various application communication application scenarios such as Vehicle-to-Vehicle V2V (Vehicle-to-Vehicle), Vehicle-to-Infrastructure V2I (Vehicle-to-Infrastructure), Vehicle-to-Pedestrian V2P (Vehicle-to-Pedestrian), Vehicle-to-external Network V2N (Vehicle-to-Network), and so on. At present, vehicles can realize front collision early warning, lane change assistance, left turn assistance, cooperative adaptive cruise control and the like based on V2V communication, and can realize applications such as speed suggestion, traffic priority, road condition early warning, red light running early warning, current weather influence early warning, parking space and charging pile position finding and the like based on V2I communication; based on V2P communication, early warning and protection of the vulnerable road user can be realized, and based on V2N communication, services such as real-time traffic route planning and map updating can be realized.
The V2X technology enables adaptive cooperative driving to be possible, so that the emission of pollutants such as CO2, CO, lead, sulfur oxides and the like is reduced, and the oil consumption and the emission of pollutants can be reduced by 4-25% by a vehicle with a V2X function. Meanwhile, V2X is also an important means for realizing automatic driving, can make up for the defect of insufficient sight distance of vehicle-mounted sensors such as a camera and a radar, and improves the perception capability of the vehicle under special conditions such as an intersection and a severe weather environment.
A plurality of RTK differential data transmitting terminals 100, V2X local area networking communication means 200, and RTK differential data receiving terminals 300 may be provided in the port. The RTK differential data transmitting end 100 may include a positioning service provider or a self-established base station, and may provide an RTK data source used for differential positioning in real time. The RTK differential data sending end 100, the V2X local area networking communication device 200 and the RTK differential data receiving end 300 are utilized to form a V2X communication network, the V2X communication network enables the RTK data multilink to be transmitted efficiently and reliably among the modules, and positioning accuracy can be guaranteed; forwarding between different nodes, i.e. transmission of only RTK data between different V2X communication modules, has multiple links. The problem that data transmission is limited by surrounding terrain, shelters and operator networks, and therefore RTK data cannot be received, loss difference is generated, and accordingly large deviation of positioning is generated is solved. This application can provide the guarantee for unmanned driving, simultaneously along with the increase of unmanned driving scale, can effectual reduction single RTK positioning cost.
The specific effects are as follows: 1. the data of the RTK base station is not hard, and the data can be freely switched between self-constructed base station equipment and RTK data provided by a position service provider; 2. networking based on a V2X communication mode can install and deploy V2X equipment according to different environments, and therefore a zero-dead-angle and comprehensive-coverage network is achieved. The utilization rate of the equipment can be improved, the equipment cost is reduced, and the maintenance and the management are convenient; 3. based on the communication of V2X networking, the mode that a base station flows multiple mobile stations can be realized, and the data transmission is carried out without depending on an operator network, thereby simplifying the system design, reducing the cost and improving the reliability and the transmission efficiency.
The embodiments of the present application are described and illustrated below by means of preferred embodiments.
As shown in fig. 2, which is a schematic structural diagram of an RTK differential data transmitting end 100 in the embodiment of the present application, the RTK differential data transmitting end 100 includes an RTK processing module 110 and a first V2X communication module 120; the first V2X communication module 120 is connected to the RTK processing module 110, and configured to configure according to preset parameters and establish a V2X communication network for RTK data acquisition; and the RTK processing module 110 is connected to the first V2X communication module 120, and configured to be embedded according to preset parameters, and process and transmit the RTK data according to preset rules.
Specifically, the preset parameters and the preset rules are implemented based on the V2X communication technology, which is not limited to this.
In one embodiment, the V2X local area networking communicator 200 includes a plurality of V2X transceiver terminals for establishing and maintaining a communication network of the V2X transceiver terminals and controlling data forwarding of RTK data among different nodes.
Specifically, the V2X transceiver terminal is further configured to communicate with all RTK differential data receiving terminals 300 in the area to transmit the RTK data to each RTK differential data receiving terminal 300 in real time.
As shown in fig. 3, which is a schematic structural diagram of the RTK differential data receiving end 300 in the embodiment of the present application, the RTK differential data receiving end 300 includes a second V2X communication module 310 and an RTK differential data output module 320; a second V2X communication module 310 connected to the RTK differential data output module 320 and the V2X transceiver terminal for receiving RTK data; an RTK differential data output module 320, where the RTK differential data output module 320 is configured to parse and process the RTK data to obtain original RTK data corresponding to the current RTK data, and transmit the original RTK data to a corresponding object through a corresponding communication port.
During operation, the second V2X communication module 310 needs to be configured according to preset parameters, and then a V2X communication network is established according to the preset parameters of the system. The configuration and preset parameter configuration of the second V2X communication module 310 here is the same as in the RTK differential data transmitter 100 for the V2X communication network. The RTK differential data receiving end 300 is a special V2X local area networking communication device 200, and is additionally responsible for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data to a corresponding object through a corresponding communication port.
It should be noted that the hardware of the first V2X communication module 120 and the second V2X communication module 310 are the same, but the names are different because the deployment locations are different. In practice, are V2X communication modules. The communication device in the V2X local area networking communication device 200 also adopts the V2X communication module, thereby realizing a zero dead angle and full coverage network. The utilization rate of the equipment can be improved, the equipment cost is reduced, and the maintenance and the management are convenient.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
The invention also provides an RTK transmission method based on the V2X networking technology, as shown in fig. 4, including the following steps;
s100, configuring a built-in first V2X communication module and an RTK processing module according to preset parameters, and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule;
specifically, the method comprises the following steps:
the first step is as follows: after the system is powered on, initializing the system and carrying out function self-checking on each unit module; the second step is that: after each functional module of the system detects normal, configuring a first V2X communication module according to the parameters of the system; the third step: after the first V2X communication module is configured, establishing a V2X communication network according to the parameters of the system; the fourth step: configuring an RTK processing module according to the parameter configuration of the system; the fifth step: after the RTK processing module is configured, processing data of the RTK module according to a preset rule; and a sixth step: and finishing transmission of the processed RTK data through a preset V2X network communication rule.
Step S200, maintaining the V2X communication network, and controlling data forwarding of RTK data among different nodes;
specifically, the method comprises the following steps:
the first step is as follows: after the system is powered on, initializing the system and carrying out function self-checking on each unit module; the second step is that: after each functional module of the system detects normal, configuring a second V2X communication module according to the parameters of the system; the third step: after the second V2X communication module is configured, establishing a V2X communication network according to the parameters of the system; the fourth step: after receiving the RTK data, a node in the V2X communication network forwards the RTK data to the next node.
And S300, analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data.
The method and the device realize the multi-link efficient and reliable transmission of the RTK data among the modules through the established V2X communication network, and ensure the positioning accuracy; and the problem that the RTK data cannot be received due to the limitation of surrounding terrain, shelter and operator network on data transmission, so that loss difference is generated and large deviation is generated in positioning is solved.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An RTK transmission system based on a V2X networking technology is characterized by comprising an RTK differential data transmitting end, a V2X local area networking communication device and an RTK differential data receiving end;
the RTK differential data sending end is respectively connected with the V2X local area networking communication device and the RTK differential data receiving end, and is used for configuring a built-in first V2X communication module and an RTK processing module according to preset parameters and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule;
the V2X local area networking communication device is configured to control data forwarding of the RTK data among different nodes;
and the RTK differential data receiving end is used for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data and transmitting the original RTK data.
2. The V2X networking technology-based RTK transmission system of claim 1, wherein the R TK differential data transmitting end includes an RTK processing module and a first V2X communication module;
the first V2X communication module is connected with the RTK processing module and is used for configuring according to preset parameters and establishing a V2X communication network for RTK data acquisition;
the RTK processing module is connected with the first V2X communication module, and is configured to be built-in according to preset parameters, and process and send the RTK data according to preset rules.
3. An RTK transmission system based on V2X networking technology according to claim 1, wherein the V2X local area networking communication device includes a plurality of V2X transceiver terminals for establishing and maintaining a communication network of V2X transceiver terminals and controlling data forwarding of the RTK data among different nodes.
4. The V2X networking based RTK transmission system according to claim 3, wherein the V2X transceiver terminal is further configured to communicate with all RTK differential data receiving terminals in an area for transmitting the RTK data to each of the RTK differential data receiving terminals in real time.
5. The V2X networking technology-based RTK transmission system of claim 1, wherein the R TK differential data receiving end comprises a second V2X communication module and an RTK differential data output module;
the second V2X communication module is connected to the RTK differential data output module and the V2X transceiver terminal, and is used for receiving the RTK data;
the RTK differential data output module is used for analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data to a corresponding object through a corresponding communication port.
6. An RTK transmission method based on V2X networking technology is characterized by comprising the following steps:
configuring a first V2X communication module and an RTK processing module which are arranged in the device according to preset parameters, and establishing a V2X communication network for RTK data acquisition; processing and sending the RTK data according to a preset rule;
maintaining the V2X communication network and controlling the data forwarding of the RTK data among different nodes;
and analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data.
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| KR20200058194A (en) * | 2018-11-19 | 2020-05-27 | 현대자동차주식회사 | Vehicle v2x inspection device and method thereof |
| CN210246744U (en) * | 2019-07-02 | 2020-04-03 | 深圳常锋信息技术有限公司 | Multilink RTK data transceiver and unmanned aerial vehicle |
| CN111913200A (en) * | 2020-06-28 | 2020-11-10 | 深圳市金溢科技股份有限公司 | Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system |
| CN112147657A (en) * | 2020-10-26 | 2020-12-29 | 广州市埃特斯通讯设备有限公司 | Differential positioning system based on PC5 interface |
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