CN112689236B - 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 method based on V2X networking technology, wherein the system comprises: the RTK differential data transmitting 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 RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting RTK data according to a preset rule; the V2X local area networking communication device is used for controlling data forwarding of 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. The method and the device realize efficient and reliable transmission of RTK data in multiple links and ensure accurate positioning.
Description
Technical Field
The application relates to the technical field of port operation interactive data processing, in particular to an RTK transmission system and method based on a V2X networking technology.
Background
With development and popularization of unmanned technologies, more and more closed or semi-open scenes begin to adopt unmanned technologies to assist and support the operation process, and a harbor environment is one of the unmanned technologies. Since one of the characteristics of the machine is that it is capable of 7×24 hours of uninterrupted operation, unmanned harbor vehicle operation is a future trend and an important means to replace traditional harbor manual operation from the viewpoints of efficiency improvement and cost management. In the whole unmanned technique, the positioning navigation technique is the core, and the purpose of positioning is to enable an unmanned automobile to find the method of the exact position of the unmanned automobile.
Currently, common positioning technologies in unmanned vehicles are Global Navigation Satellite System (GNSS), liDAR positioning, visual positioning, and the like. Positioning based on GNSS is a 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 also generates positioning errors due to various reasons, for example, the satellite-borne clock and the clock on the receiver cannot always be synchronous, so that time deviation can be caused, the signal is reflected by an atmosphere layer and various obstacles in the propagation process, so that the signal propagation path becomes long, the measurement error is caused, and the positioning error caused by the reasons can reach 2-10 meters or even more, so that the unmanned requirement cannot be met. RTK positioning is researched according to the characteristics of GNSS positioning technology. RTK positioning techniques receive satellite observations simultaneously, via a reference station and a rover station. The reference station transmits the received data to the mobile station in real time, and the mobile station synthesizes the data received by the mobile station and the data transmitted by the reference station to complete differential calculation, so that the spatial relative position relationship between the reference station and the mobile station is accurately calculated, and the positioning accuracy reaches the centimeter level.
At present, the transmission modes mainly used by the RTK include a radio station transmission mode and a network transmission mode, but the RTK data cannot be received due to the limitation of surrounding terrains, shielding objects and an operator network, so that the problem of large deviation of positioning is caused due to the fact that the RTK data cannot be received.
At present, aiming at the problems that in the related art, data transmission is limited by surrounding terrains, shielding objects and operator networks, RTK data cannot be received, so that difference is lost, and large deviation is caused in positioning, no effective solution is proposed.
Disclosure of Invention
The embodiment of the application provides an RTK transmission system and method based on a V2X networking technology, which at least solve the problem that RTK data cannot be received due to the limitation of surrounding terrains, shielding objects and operator networks in the related technology, so that difference loss 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 transmitting end is respectively connected with the V2X local networking communication device and the RTK differential data receiving end, and is used for configuring a built-in first V2X communication module and RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting the RTK data according to a preset rule;
the V2X local area networking communication device is used for controlling the data forwarding of the RTK data among different nodes;
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 embodiments, the RTK 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 constructing a V2X communication network for RTK data acquisition;
the RTK processing module is connected with the first V2X communication module and is used for being arranged in the first V2X communication module according to preset parameter configuration, and processing and sending the RTK data according to preset rules.
In some embodiments, the V2X local area networking communication device includes a plurality of V2X transceiver terminals, configured to establish and maintain a communication network of the V2X transceiver terminals, and control data forwarding of the RTK data between different nodes.
In some embodiments, the V2X transceiver terminal is further configured to communicate with all the RTK differential data receivers in the area, so as to transmit the RTK data to each of the RTK differential data receivers in real time.
In some 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 with the RTK differential data output module and the V2X receiving and transmitting 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 built-in first V2X communication module and an RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting the RTK data according to a preset rule;
maintaining a V2X communication network and controlling data forwarding of the RTK data among different nodes;
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 art, the RTK transmission system and the RTK transmission method based on the V2X networking technology, provided by the embodiment of the application, form a V2X communication network by using the RTK differential data transmitting end, the V2X local networking communication device and the RTK differential data receiving end, and realize efficient and reliable transmission of RTK data between each module through the V2X communication network, so that positioning accuracy is ensured; and the problems that RTK data cannot be received due to the limitation of surrounding terrains, shielding objects and operator networks on data transmission, so that loss difference is generated and large deviation is generated in positioning are 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 other features, objects, and advantages of the application.
Drawings
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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic diagram of an RTK transmission system based on V2X networking technology according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure of an RTK differential data transmitting end according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an RTK differential data receiver according to an embodiment of the present invention;
fig. 4 is a flowchart of an RTK transmission method based on V2X networking technology according to an embodiment of the present invention.
In the figure, 100, RTK differential data transmitting end; 110. an RTK processing module; 120. a first V2X communication module; 200. V2X local area networking communication device; 300. an RTK differential data receiving end; 310. a second V2X communication module; 320. and the 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 is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects. As used below, the terms "module," "sub-module," and the like may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The embodiment provides an RTK transmission system based on a V2X networking technology, and fig. 1 is a schematic structural diagram of the RTK transmission system based on the V2X networking technology according to an embodiment of the present application, as shown in fig. 1, the system includes an RTK differential data transmitting end 100, a V2X local area networking communication device 200, and an RTK differential data receiving end 300;
the RTK differential data transmitting end 100 is respectively connected with the V2X local area networking communication device 200 and the RTK differential data receiving end 300, and is used for configuring the built-in first V2X communication module 120 and RTK processing module 110 according to preset parameters, and constructing a V2X communication network for RTK data acquisition; processing and transmitting RTK data according to a preset rule;
the V2X local area networking communication device 200 is configured to control data forwarding of 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, i.e., vehicle-to-evaluation, is one of the supporting 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-Infrastructure), vehicle-to-external Network V2N (Vehicle-to-Network), and the like. At present, the vehicle based on V2V communication can realize front collision early warning, lane changing assistance, left turning assistance, cooperative self-adaptive cruise control and the like, and the vehicle based on V2I communication 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 locating and the like; based on V2P communication, early warning and protection of the vulnerable road users can be realized, and services such as real-time traffic route planning, map updating and the like can be realized based on V2N communication.
The V2X technology enables self-adaptive cooperative driving to be possible, so that the emission of pollutants such as CO2, CO, lead, sulfur oxide and the like is reduced, and the vehicle with the V2X function can reduce 4% -25% of oil consumption and pollutant emission. Meanwhile, V2X is also an important means for realizing automatic driving, can make up for the defect of insufficient viewing distance of vehicle-mounted sensors such as cameras, radars and the like, and improves the perception capability of vehicles under special conditions such as intersections, severe weather environments and the like.
A plurality of RTK differential data transmitting terminals 100, V2X local area networking communication devices 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 base station built by itself, and the TK differential data transmitting end may provide an RTK data source used for differential positioning in real time. The RTK differential data transmitting 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, and the V2X communication network enables efficient and reliable transmission of RTK data multilink among all modules to be realized, so that positioning accuracy can be ensured; the forwarding between the blind nodes, i.e. the transfer of only RTK data between the blind V2X communication modules, has multiple links. The method solves the problem that the RTK data cannot be received due to the fact that surrounding terrains, shielding objects and operator networks are limited to data transmission, and large deviation is generated due to the fact that the RTK data are lost. The method and the device can provide guarantee for unmanned operation, and simultaneously can effectively reduce the RTK positioning cost of a single vehicle along with the increase of the unmanned operation scale.
The specific effects are as follows: 1. the method has no hard requirement on the RTK base station end data, and can be freely switched between self-built base station equipment and RTK data provided by a position service provider at will; 2. the V2X equipment can be installed and deployed by self according to different environments based on the networking of the V2X communication mode, so that the network with zero dead angle and full coverage is realized. The utilization rate of the equipment can be improved, the equipment cost is reduced, and the maintenance and the management are convenient; 3. communication based on V2X networking can realize a mode of a base station with multiple mobile stations, and data transmission is carried out independently of an operator network, so that system design is simplified, cost is reduced, and reliability and transmission efficiency are improved.
The embodiments of the present application are described and illustrated below by means of preferred embodiments.
As shown in fig. 2, in an 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 is configured according to preset parameters, and constructs a V2X communication network to perform RTK data acquisition; the RTK processing module 110 is connected to the first V2X communication module 120, and is configured to be built in according to a preset parameter configuration, and process and send RTK data according to a preset rule.
Specifically, the preset parameters and the preset rules are implemented based on the V2X communication technology, which is not limited.
In one embodiment, the V2X local area networking communication device 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 between different nodes.
Specifically, the V2X transceiver terminal is further configured to communicate with all the RTK differential data receiving terminals 300 in the area, so as to transmit the RTK data to each of the RTK differential data receiving terminals 300 in real time.
As shown in fig. 3, 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; the second V2X communication module 310 is connected to the RTK differential data output module 320 and the V2X transceiver terminal, and is configured to receive the RTK data; and 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.
In operation, the second V2X communication module 310 needs to be configured according to the preset parameters, and then the V2X communication network is configured according to the preset parameters of the system. The configuration and the preset parameters of the second V2X communication module 310 are the same as those of the RTK differential data transmitting terminal 100. The RTK differential data receiving end 300 is a special V2X local area networking communication device 200, which 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 hardware of the second V2X communication module 310 are the same, but the names are different due to different deployment positions. In fact, are V2X communication modules. The communication device in the V2X local area networking communication device 200 also adopts a V2X communication module, thereby realizing a network with zero dead angle and full coverage. The utility model not only can improve the utilization rate of the equipment, but also reduces the equipment cost, and is convenient for maintenance and management.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located 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, comprising the following steps of;
step S100, configuring a built-in first V2X communication module and an RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting RTK data according to a preset rule;
specifically, the method comprises the following steps:
the first step: after the system is electrified, initializing the system and performing functional self-checking on each unit module; and a second step of: after each functional module of the system detects normal, configuring a first V2X communication module according to parameters of the system; and a third step of: after the first V2X communication module is configured, a V2X communication network is built according to the parameters of the system; fourth step: configuring an RTK processing module according to parameter configuration of a system; fifth step: after the RTK processing module is configured, processing data of the RTK module according to a preset rule; sixth step: and the processed RTK data is sent through a preset V2X network communication rule.
Step 200, maintaining the V2X communication network and controlling the data forwarding of RTK data among different nodes;
specifically, the method comprises the following steps:
the first step: after the system is electrified, initializing the system and performing functional self-checking on each unit module; and a second step of: after each functional module of the system detects normal, configuring a second V2X communication module according to the parameters of the system; and a third step of: after the second V2X communication module is configured, a V2X communication network is built according to the parameters of the system; fourth step: after receiving the RTK data, one node in the V2X communication network forwards the RTK data to the next node.
And step S300, analyzing and processing the RTK data to obtain original RTK data corresponding to the current RTK data, and transmitting the original RTK data.
According to the method, the RTK data multilink efficient and reliable transmission is realized among the modules through the established V2X communication network, and positioning accuracy is guaranteed; and the problems that RTK data cannot be received due to the limitation of surrounding terrains, shielding objects and operator networks on data transmission, so that loss difference is generated and large deviation is generated in positioning are solved.
It should be noted that the steps illustrated in the above-described flow or 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 other than that illustrated herein.
It should be understood by those skilled in the art that the technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (5)
1. The RTK transmission system based on the V2X networking technology is characterized by comprising an RTK differential data transmitting end, a V2X local networking communication device and an RTK differential data receiving end;
the RTK differential data transmitting end is respectively connected with the V2X local networking communication device and the RTK differential data receiving end, and is used for configuring a built-in first V2X communication module and RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting the RTK data according to a preset rule;
the V2X local area networking communication device is used for controlling the data forwarding of the RTK data among different nodes;
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;
the RTK differential data receiving end comprises a second V2X communication module and an RTK differential data output module;
the second V2X communication module is connected with the RTK differential data output module and the V2X receiving and transmitting 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.
2. The RTK transmission system based on the V2X networking technology according to claim 1, wherein the RTK 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 constructing a V2X communication network for RTK data acquisition;
the RTK processing module is connected with the first V2X communication module and is used for being arranged in the first V2X communication module according to preset parameter configuration, and processing and sending the RTK data according to preset rules.
3. The 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 the V2X transceiver terminals, and controlling data forwarding of the RTK data between different nodes.
4. The RTK transmission system based on V2X networking technology according to claim 3, wherein the V2X transceiver terminal is further configured to communicate with all the RTK differential data receiving terminals in an area to transmit the RTK data to each of the RTK differential data receiving terminals in real time.
5. An RTK transmission method based on a V2X networking technology is characterized by comprising the following steps:
configuring a built-in first V2X communication module and an RTK processing module according to preset parameters, and constructing a V2X communication network to acquire RTK data; processing and transmitting the RTK data according to a preset rule;
maintaining a V2X communication network and controlling data forwarding of the RTK data among different nodes;
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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| CN111158027A (en) * | 2018-11-07 | 2020-05-15 | 千寻位置网络有限公司 | Multi-terminal synchronization-based network RTK service testing method and device and testing system |
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