CN112710324B - Block chain traceability technology-based geomagnetic positioning and intelligent terminal construction method - Google Patents
Block chain traceability technology-based geomagnetic positioning and intelligent terminal construction method Download PDFInfo
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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Abstract
The invention provides a geomagnetic positioning and intelligent terminal construction method based on a block chain traceability technology, which is characterized in that a boundary area of a navigation path is approximately analyzed based on position information; receiving the selection of a user on the boundary area, and taking the selected boundary area as an interest point detection area; receiving splitting selection of a user on an interest point detection area; dividing the interest point detection area into a first interest point detection area and a second interest point detection area; when an object enters the interest point detection area, acquiring data of a plurality of intelligent terminals and geomagnetic detection nodes in the interest point detection area, and performing fingerprint matching calculation on the data of the plurality of intelligent terminals and geomagnetic detection nodes in the interest point detection area so as to determine position information parameters in the interest point detection area; tracing by using a block chain system, and representing data transmitted by each tracing node by using a matrix so as to represent a position information chain in a fixed time and region.
Description
Technical Field
The invention relates to a method for positioning and constructing an intelligent terminal by using a block chain traceability technology and earth magnetic field detection.
Background
In the process of rapid development of society, urban traffic problems such as difficult traveling, traffic jam and the like begin to emerge gradually, and the construction of an intelligent traffic system is more and more paid attention to and paid attention to by people. Through the intelligent transportation system, the driver can plan the trip route in advance, avoids the urban road congestion in this period of time, shortens the trip time, improves trip efficiency. The prediction of the short-time traffic flow has very important significance for the development of intelligent traffic, and the traffic flow information in the future in a short time is predicted by extracting the sequence characteristics of the historical traffic flow, so that the problem of reasonable distribution of traffic resources can be solved. However, the existing extraction of sequence features of historical traffic flow does not meet the standards required by intelligent traffic systems in terms of accuracy and response to emergency situations.
The geomagnetic positioning technology adopts geomagnetic map matching navigation when positioning. The geomagnetic matching navigation is realized by selecting an experimental area in advance, arranging sensors, collecting abnormal values of the geomagnetism in the area, making the abnormal values into a reference map, and storing the reference map in a carrier (such as a computer). When the carriers appear in the area, the sensor can measure the intensity of the geomagnetic field in the area in real time, convert the intensity into an abnormal value of the geomagnetism, and then draw a real-time geomagnetic map; and finally, taking out the stored geomagnetic reference image, obtaining the current real-time geomagnetic image, performing correlation matching operation on the geomagnetic reference image and the current real-time geomagnetic reference image, and selecting the most appropriate matching point, namely the best estimated position of the carrier. Although the precision of geomagnetic positioning is relatively high, in an actual environment, when geomagnetic signals change constantly, interference occurs in geomagnetic information used for positioning, and thus the positioning precision of the method fluctuates significantly.
In the prior art, for example, chinese invention patent (publication No. CN105210432A, publication date 2015.12.30) relates to a control of transmission characteristics for position determination, controllably modifying, at a first wireless device, an original unmodified value of at least one PHY-layer signal parameter for a signal according to at least one predetermined varying signal modification process, transmitting said signal with the controllably modified value of said at least one PHY-layer signal parameter to a second wireless device. This approach, however, can be problematic for the site owner operating the signal emitting base station, and it is difficult to prevent/prohibit anyone from utilizing these kinds of receive-only measurements for positioning purposes.
As another example, U.S. patent publication No. US10182316B1, publication date 2019.01.15, for example, relates to a method for automatically providing a user-desired function, such as navigation instructions that may be switched from driving to walking, to perform various functions in response to determining that a user has left a car. However, this method requires a plurality of sensors to monitor the motion state, and there is a difference between the accuracies of the plurality of sensors, so the motion monitoring result is not accurate enough.
Disclosure of Invention
In order to solve the above-mentioned existing technical problem, the present invention provides a method for geomagnetic positioning and intelligent terminal construction based on a block chain traceability technology, which is characterized by comprising:
acquiring position information on a navigation path of an object; approximately analyzing a boundary region of the navigation path based on the location information; receiving the selection of a user on the boundary area, and taking the selected boundary area as an interest point detection area; receiving splitting selection of a user on an interest point detection area; dividing the interest point detection area into a first interest point detection area and a second interest point detection area;
when an object enters the interest point detection area, local detection data of a plurality of geomagnetic detection nodes in the interest point detection area are obtained, detection of the geomagnetic detection nodes adopts finite state detection, the entry into a corresponding state is judged by using a plurality of thresholds according to a preprocessed magnetic field waveform, and corresponding detection is executed in each state;
performing fingerprint matching calculation on local detection data of the plurality of geomagnetic detection nodes in the interest point detection area, so as to determine position information parameters in the first interest point detection area and the second interest point detection area;
tracing by using a block chain system, representing data transmitted by each tracing node by using a matrix, and predicting a position information chain in fixed time and space.
Further, the process of approximately analyzing the boundary area of the navigation path includes: a point of interest detection region is selected, and the position coordinates of the object are replaced with known position coordinates when the object appears in or is proximate to the point of interest detection region.
Further, a region validity period of the interest point detection region is established, and after the validity period elapses, the interest point detection region is restored to the boundary region.
Further, the detection states of the geomagnetic detection nodes are divided into an initialization state, a vehicle-free state, a waveform change state, a vehicle planned-in state, a vehicle planned-out state and a waveform stabilizing state, and the corresponding states are judged according to comparison between detection values of the geomagnetic detection nodes and a given threshold value.
Further, the original detection data of the geomagnetic detection node is preprocessed by adopting a moving average filtering algorithm, wherein the moving average filtering formula is as follows:
in the formula: m1…, Mn is the detection value; a is the filtered value. When n is odd, replacing the (n + 1)/2 detection values of the detection values from 1 to n by averaging; and when n is an even number, taking the detection values from 1 to n as a new detection value of the n/2 th by averaging, and performing right smooth filtering in the same way.
Further, the process of tracing with the blockchain system includes: selecting an authorized node meeting the requirement from the whole blockchain tracing nodes through a consensus mechanism; and extracting and exchanging information chains in the past fixed time and space by using a point-to-point data transmission mode.
Further, the process of predicting traffic data includes:
data transmitted by each geomagnetic detection node is expressed by a matrix Vpxm as follows, thereby representing traffic flow information at a fixed time and in an area:
where a time t-m +1 to a time t represent a selected fixed period of time, each element vi (j) (i =1, …, p; j = t-m +1, …, t) of the matrix Vpxm represents detection data of the i-th geomagnetic detection node at the time j in the target detection area.
Drawings
FIG. 1 is a communication link diagram of a point of interest detection area in an embodiment of the invention;
FIG. 2 is a schematic diagram of a bounding region in the construction method of the present invention;
FIG. 3 is a schematic diagram illustrating the bounding regions of the approximate analysis movement path of the present invention;
FIG. 4 illustrates the pre-and post-filtering effect of the present invention using a moving average filtering algorithm;
fig. 5 shows a schematic view of a vehicle movement state.
Detailed Description
FIG. 1 is a schematic view of a communication link of a point of interest detection area. The interest point detection area can be divided into a plurality of detection areas according to user selection, and each detection area is provided with a geomagnetic detection node. The geomagnetic detection node generally includes a magnetic sensor, a conditioning circuit, an a/D conversion, and a microcontroller. Since it is the beginning of the communication information construction, and the acquired information quality influences the accuracy of the whole system, the PNI sensor RM3100 which is 10 times higher than the hall sensor is selected by the system. The geomagnetic detection node realizes data interaction with a data receiving end through a wireless communication technology.
The handheld intelligent terminal device is a vehicle information management auxiliary tool. The geomagnetic detection node uploads the detected local detection data to the platform and provides management auxiliary information for the platform; the state information is pushed to the electronic license device of a user who initiates a request nearby through the platform, and the handheld intelligent terminal device supports license plate recognition, photo storage and uploading functions and standardizes a vehicle management process.
Because the magnetic field intensity of the earth magnetic field is about 0.5G, the direction and the intensity of the earth magnetic field on the earth surface at different positions have certain difference, but within a certain range, the direction and the intensity of the earth magnetic field can be approximately uniform and unchanged. The vehicle has a large amount of ferromagnetic substances and has large magnetic conductivity, and under the action of an external magnetic field, namely the earth magnetic field, originally arranged molecular currents without chapters in the object are deflected under the action of magnetic moments to cause the magnetization phenomenon of the object, so that an extra magnetic field which is in the same direction as the external magnetic field and is very large can be generated. The original stable geomagnetism near the vehicle is distorted by the superposition of the additional magnetic field. The geomagnetic detection node obtains related detection information just by inducing the change of the magnetic field.
In the present invention, the electronic licensing device can be carried on the licensee's (i.e., user's) vehicle. In a preferred embodiment, the electronic licensing device includes a motion sensor, and based on the precise time determined by the motion sensor, the precise state or time at which the point of interest detects that the vehicle present in the area is stationary or moving can be obtained. And the geomagnetic detection node indicates the relevant position information so as to enable a user to adjust the navigation plan according to the position information. The motion sensor sends the unique number of the license plate device and a signal representing exact pause or motion time to a central computer of the platform through a UHF wireless network, a geomagnetic management station is arranged in the middle between a geomagnetic detection node and the platform, the geomagnetic detection node transmits detected position information to the central computer of the platform through the middle geomagnetic management station, the central computer can link the position information to corresponding electronic permission equipment according to a request of vehicles entering a point of interest detection area, and then the vehicles can adjust a navigation path, for example, the size analysis of traffic flow, the number of vehicles parked or running in the point of interest detection area, the leaving time and the like.
As shown in fig. 2, a schematic diagram of a boundary region in the geomagnetic positioning and intelligent terminal construction method based on the block chain traceability technology according to the present invention is specifically described.
Acquiring position information on a navigation path of a vehicle; approximately analyzing a boundary region of the navigation path based on the location information; receiving a selection of a boundary area from a user, and taking the selected boundary area as an interest point detection area; receiving a splitting option of the interest point detection area from a user; dividing the interest point detection area into a first detection area 100 and a second detection area 200;
when a vehicle enters the interest point detection area, the electronic permission device obtains management data of a plurality of intelligent terminals 11, 12 and 13 and local detection data of a plurality of geomagnetic detection nodes 10, 20 and 30 in the interest point detection area;
the central computer of the platform performs fingerprint matching calculation on management data of a plurality of intelligent terminals in the interest point detection area and local detection data of a plurality of geomagnetic detection nodes according to a fingerprint matching algorithm, so as to determine vehicle position information data of the first interest point detection area 100 and the second interest point detection area 200, and further compare the vehicle position information data of the first interest point detection area and the second interest point detection area;
and after the electronic permission equipment receives the fingerprint matching calculation result data, tracing by using a block chain system so as to predict the traffic flow position information chain data in a fixed time and space range.
The process of approximately analyzing the bounding region of the navigation path further includes: a detection area for position determination is selected and when the vehicle is present in the detection area, or is close to a specific range of the detection area, the position of the vehicle can be replaced by known position coordinates. As shown in fig. 3, L1, L2, and L3 respectively represent 3 regions whose positions are known, and P (x, y) is the coordinates of the point where the vehicle is located. When the vehicle enters or approaches an area such as L1, the known location within the area may be used as the location of the vehicle.
In a preferred embodiment, a region validity period for the point of interest detection region may be established. After the validity period has elapsed, the interest point detection area will revert to the previous border area, requiring the user to re-specify.
In practical use of the geomagnetic detection node, a magnetic field signal detected by the geomagnetic detection node mainly includes a background signal, a noise signal, and a vehicle signal. The background magnetic field is an earth magnetic field signal in the detection range of the geomagnetic detection node, and is relatively stable, but drifts along with environmental changes, electrical characteristics of equipment and other reasons, and the original signal needs to be preprocessed to improve the accuracy and precision of the detection algorithm.
Preprocessing original detection data of the geomagnetic detection node by adopting a moving average filtering algorithm, wherein the moving average filtering formula is as follows:
in the formula: m1…, Mn is the detection value; a is the filtered value. When n is odd, replacing the (n + 1)/2 detection values of the detection values from 1 to n by averaging; n is takenAnd in the case of even numbers, taking the detection values from 1 to n as a new detection value of the n/2 th by averaging, and performing right smooth filtering in the same way. The effect before and after filtering is shown in fig. 4.
And the data detection of the geomagnetic detection node adopts a finite-state machine detection mode, judges to enter a corresponding state by utilizing a plurality of threshold values according to the preprocessed magnetic field waveform, and executes a corresponding task in each state. The detection states of the geomagnetic detection nodes are divided into an initialization state, a vehicle-free state, a waveform change state, a vehicle planned-in state, a vehicle planned-out state and a waveform stability approaching state, and the corresponding states are judged according to comparison between detection values of the geomagnetic detection nodes and a given threshold value.
The following describes the blockchain system and the specific process of tracing by using the blockchain system:
first, the tracing process can be further supported by utilizing a blockchain system. The block chain is an ordered chain type data structure formed by blocks, big data traceability information formed by electronic information carrying identification codes in the circulation process is stored in a cloud end or a cluster server to form a database carrying traceability information, data blocks connected end to end are formed through block chain operation, and at the moment, the big data traceability database carrying the electronic information of the data traceability information is formed. The path undergone by the reverse process of the process can realize various operations (such as data tracking, information evaluation, process reproduction and the like) of data tracing, and ensure the safety of the operations, thereby completing the task of safe tracing of the blockchain big data.
Specifically, the information in the spatial and temporal information chain in which the vehicle travels is stored in the blockchain system, mainly by storing new information data generated by each vehicle in the blockchain system in a fixed time period into a block in the blockchain system, and meanwhile, the consistency of the data on the server of each tracing node in the system needs to be ensured.
The specific process of tracing with the blockchain system is as follows:
1. in the blockchain system, an authorized node meeting the requirement is selected from the whole blockchain tracing nodes through a consensus mechanism;
2. when each main source tracing node generates a record related to the vehicle, transmitting the new record to each authorization server node by using a point-to-point data transmission mode;
3. the authorized node generates a new block from the data received in the fixed time by using a consensus mechanism;
4. the authorization node processes data by using a digital signature algorithm and a hash encryption algorithm, adds block header information (such as a timestamp, a difficulty value, a hash value of a previous block and the like), and packages new data and the block header information into a new block;
5. the authorization node transmits the newly generated block to the whole network node through a point-to-point transmission mechanism among the network nodes;
6. after each tracing node receives the new block, the new block is verified through a data signature algorithm and a hash encryption algorithm, and the block passing the verification is added to the tail of the block chain.
Then, in the process of tracing by using the blockchain system, reverse tracing information is adopted, that is: selecting an authorized node meeting the requirement from the traceable nodes of the whole block chain system through a consensus mechanism; and extracting and exchanging information chains in the past fixed time and space by using a point-to-point data transmission mode.
The block chain traceability technology is used for adding and sharing traffic management data from the handheld intelligent terminal equipment and local detection data of the geomagnetic detection node, and a data chain capable of being traced is provided, so that traffic position information chain data in a fixed time period and a region are predicted by the block chain traceability technology. The final data is a complete record of access information, the information has accuracy and integrity, meanwhile, a block chain allows other real-time data streams to enhance analysis and modes which can be accessed by all parties of services, and all the services record and share vehicle historical data based on data sending of the geomagnetic detection node and management data receiving of the handheld intelligent terminal, so that multiple data predictions can be reliably and accurately shared.
The following describes a specific process of predicting a location information chain in a fixed time and space after tracing by using a block chain system, including:
data transmitted by each geomagnetic detection node is expressed by a matrix Vpxm as follows, thereby representing traffic flow information at a fixed time and in an area:
where a time t-m + 1 to a time t represent a selected fixed period of time, each element vi (j) (i =1, …, p; j = t-m + 1, …, t) of the matrix Vpxm represents detection data of the i-th geomagnetic detection node at the time j in the target detection area.
With regard to the mode of operation of the motion sensor, when a vehicle equipped with an electronic authorization device according to the invention starts to travel, the state of motion of the vehicle is recorded by the motion sensor, for example, when a vehicle in the point of interest detection area would change from "stationary" to "traveling" if it were still traveling after a settable short waiting time. When the owner leaves the area with the parking in the interest point detection area, the motion sensor detects that the vehicle is still. After a settable waiting time, the status of the electronic licence device will become "stationary" and the exact stop moment will be stored internally.
Specifically, as shown in fig. 5, the state of the geomagnetic detection node, which may be a no-vehicle state (empty) or a vehicle-present state (occupied), is shown in the upper time axis a, and the lower time axis B shows the vehicle movement state displayed on the electronic license apparatus. At a random start time t0, the geomagnetic detection node is occupied (as shown in fig. 1), and the vehicle equipped with the electronic license device is moving (as shown in fig. 21). At a certain time, the vehicle enters the parking lot and stops in the geomagnetic detection node that has been left empty (as shown in fig. 2). Therefore, from time t1, the parking space is occupied (as shown in fig. 3). The process is transferred through the geomagnetic management station and stored in the central computer. After a short time, at time t1 +. DELTA.t 1, the state of the electronic licensing device changes to stationary (as shown in FIG. 31). The precise resting moment (i.e., time t 1) is then stored internally in the microprocessor of the electronic licensing device. Time at is a short wait time to prevent the state of the electronic licensing device from having changed during the brief pause interval in between. Preferably, the waiting time Δ t is settable and may, depending on the wishes of the operator and/or the user, last for example from a few seconds to a few minutes, preferably Δ t may be for example about 10 seconds.
In a preferred embodiment, the administrator holds the smart terminal device, the portable or mobile RFID reader is provided in the smart terminal device, with the help of the reader, the hand-held terminal device can read out the identification code, usually composed of numbers, in the geomagnetic detection node, wherein the identification code is electronically stored by the hand-held terminal device, the hand-held terminal device is coupled with a smart phone carried with the operator via bluetooth, and the read-out identification code is automatically stored in the memory of the smart phone. Now the operator only needs to forward the location code to the central computer at the right time.
Because the automatically read identification code is electronically stored in the smartphone, the chance of error is greatly reduced. Further, the positioning process may be supported by using a positioning system, for example, the coordinates of the parking space associated with the geomagnetic detector node may be input into the memory of the smartphone using the GPS function of the smartphone and coupled to the geomagnetic detection node identification code that has been read.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (3)
1. A geomagnetic positioning and intelligent terminal construction method based on a block chain traceability technology is characterized by comprising the following steps:
acquiring position information on a navigation path of an object; approximately analyzing a boundary region of the navigation path based on the location information; receiving the selection of a user on the boundary area, and taking the selected boundary area as an interest point detection area; receiving splitting selection of the interest point detection area by a user; dividing the interest point detection area into a first interest point detection area and a second interest point detection area;
when an object enters the interest point detection area, acquiring data of a plurality of intelligent terminals and geomagnetic detection nodes in the interest point detection area, and performing fingerprint matching calculation on the data of the plurality of intelligent terminals and geomagnetic detection nodes in the interest point detection area, so as to determine position information parameters in the first interest point detection area and the second interest point detection area;
tracing by using a block chain system, and representing data transmitted by each tracing node by using a matrix Vpxm so as to represent a position information chain in a fixed time and area:
wherein, from time t-m +1 to time t, a selected fixed time period is represented, and each element vi (j) (i =1, …, p; j = t-m +1, …, t) in the matrix Vpxm represents the detection data of the ith geomagnetic detection node in the interest point detection area at time j; selecting an authorized node meeting the requirement from the whole blockchain tracing nodes through a consensus mechanism; extracting and exchanging position information chains in past fixed time and space by using a point-to-point data transmission mode;
the geomagnetic detection node adopts finite state detection, judges to enter a corresponding detection state by utilizing a plurality of thresholds according to the preprocessed magnetic field waveform, and executes corresponding detection in each detection state;
the detection states of the geomagnetic detection nodes are divided into an initialization state, a vehicle-free state, a waveform change state, a vehicle planned-in state, a vehicle planned-out state and a waveform stabilizing state, and the corresponding detection states are judged according to the comparison between the detection values of the geomagnetic detection nodes and a given threshold value;
preprocessing original detection data of the geomagnetic detection node by adopting a moving average filtering algorithm, wherein the moving average filtering formula is as follows:
in the formula: m1…, Mn is the detection value; a is the filtered value; when n is odd, replacing the (n + 1)/2 detection values of the detection values from 1 to n by averaging; and when n is an even number, taking the detection values from 1 to n as a new detection value of the n/2 th by averaging, and performing right smooth filtering in the same way.
2. The method for constructing a geomagnetic positioning and intelligent terminal based on a block chain traceability technology according to claim 1, wherein the process of approximately analyzing the boundary area of the navigation path comprises: and selecting the interest point detection area, and replacing the position coordinates of the object with the known position coordinates when the object appears in or is close to the interest point detection area.
3. The method for constructing the geomagnetic positioning and intelligent terminal based on the block chain traceability technology according to claim 1, wherein a region validity period of the interest point detection region is established, and after the region validity period expires, the interest point detection region is restored to a boundary region.
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| US9210682B2 (en) * | 2013-04-15 | 2015-12-08 | Qualcomm Incorporated | Varying processes to control transmission characteristics for position determination operations |
| CN103365288B (en) * | 2013-08-02 | 2016-01-20 | 武汉恒达智慧城市交通研发有限公司 | A kind of method of magnetic control intelligently for storing cycle |
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| CN105043387A (en) * | 2015-06-26 | 2015-11-11 | 武汉科技大学 | Personal indoor positioning system based on inertial navigation aiding geomagnetism |
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