CN112799013A - Vehicle positioning method, positioning system, electronic device, and storage medium - Google Patents

Vehicle positioning method, positioning system, electronic device, and storage medium Download PDF

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Publication number
CN112799013A
CN112799013A CN202110330336.4A CN202110330336A CN112799013A CN 112799013 A CN112799013 A CN 112799013A CN 202110330336 A CN202110330336 A CN 202110330336A CN 112799013 A CN112799013 A CN 112799013A
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China
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vehicle
rsus
drive test
equipment
test equipment
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贾双成
朱磊
李倩
李成军
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Zhidao Network Technology Beijing Co Ltd
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Zhidao Network Technology Beijing Co Ltd
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Priority to CN202110330336.4A priority Critical patent/CN112799013A/en
Publication of CN112799013A publication Critical patent/CN112799013A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The application relates to a vehicle positioning method, a positioning system, an electronic device and a storage medium. The vehicle positioning method comprises the following steps: acquiring position information of at least four drive test equipment RSUs; respectively acquiring time delays when the vehicle-mounted equipment acquires pulse signals of at least four road test equipment RSUs; respectively calculating the distances between the vehicle-mounted equipment and at least four road test units (RSUs) according to the time delay; and calculating the position information of the vehicle-mounted equipment according to the distances between the vehicle-mounted equipment and the at least four road test equipment RSUs and the position information of the at least four road test equipment RSUs. The scheme that this application provided can realize the location of mobile unit and vehicle fast, and fixes a position accuracy, labour saving and time saving.

Description

Vehicle positioning method, positioning system, electronic device, and storage medium
Technical Field
The present disclosure relates to the field of positioning methods, and in particular, to a vehicle positioning method, a positioning system, an electronic device, and a storage medium.
Background
Nowadays, in a vehicle positioning system, a GPS is generally used for positioning, but in places such as an underground parking lot where GPS signals are weak or even no GPS signals, a vehicle can only rely on a base station for positioning, and the error of the base station positioning is often large, so that a large error is generated during vehicle positioning, which wastes time and labor.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the first aspect of the application provides a vehicle positioning method, which can quickly realize vehicle positioning and is accurate in positioning, time-saving and labor-saving.
A first aspect of the present application provides a vehicle positioning method, including: acquiring position information of at least four drive test equipment RSUs; respectively acquiring time delays when the vehicle-mounted equipment acquires pulse signals of at least four road test equipment RSUs; respectively calculating the distances between the vehicle-mounted equipment and at least four road test equipment RSUs according to the time delay; and calculating the position information of the vehicle-mounted equipment according to the distances between the vehicle-mounted equipment and the at least four road test equipment RSUs and the position information of the at least four road test equipment RSUs.
According to an embodiment of the present application, before calculating distances between the vehicle-mounted device and at least four of the drive test devices RSUs according to the time delay, the method further includes: and synchronizing the clocks of the clock pulse counters of at least four drive test equipment RSUs with a world clock.
In some embodiments, the respectively obtaining time delays when the vehicle-mounted device collects pulse signals of at least four of the drive test devices RSUs includes: respectively controlling at least four drive test equipment RSUs and the vehicle-mounted equipment to simultaneously generate the same pseudo-random codes; respectively acquiring delay time differences when time synchronization is realized between at least four drive test equipment RSUs and pseudo random codes generated by the vehicle-mounted equipment; and determining the time delay when the vehicle-mounted equipment acquires the pulse signals of at least four drive test equipment RSUs according to the delay time difference.
In some embodiments, the distance between the vehicle-mounted device and the drive test device RSU and the time delay satisfy: di=c×(t-t0i) (ii) a Wherein d isiIs the vehicle-mounted equipment and the ith oneDistance between the road test units RSU, t-t0 iAnd c is the speed of light when the vehicle-mounted equipment acquires the pulse signal on the ith drive test equipment RSU.
In some embodiments, the distance between the vehicle-mounted device and the drive test device RSU, the location information of the drive test device RSU, and the location information of the vehicle-mounted device satisfy:
(xi-x) 2+(yi-y) 2+(zi-z) 2+c2×(t-t0i)=di 2；
wherein, the xiThe yiAnd z is saidiRespectively representing the latitude, longitude and elevation of the ith drive test equipment RSU, wherein x, y and z respectively represent the latitude, longitude and elevation of the vehicle-mounted equipment, and t-t0iTime delay when the vehicle-mounted equipment acquires the pulse signal on the ith drive test equipment RSU, wherein c is the speed of light and diAnd the distance between the vehicle-mounted equipment and the ith drive test equipment RSU is obtained.
A second aspect of the present application provides a positioning system comprising: the system comprises at least four drive test equipment RSUs, wherein the at least four drive test equipment RSUs are provided with clock pulse counters and positioning modules; the vehicle-mounted equipment is used for receiving pulse signals of at least four pieces of drive test equipment; the time delay calculation module is used for respectively calculating time delays when the vehicle-mounted equipment acquires pulse signals of at least four road test equipment RSUs; the distance calculation module is used for calculating the distances between the vehicle-mounted equipment and the at least four drive test equipment RSUs according to the time delay when the vehicle-mounted equipment collects the pulse signals of the at least four drive test equipment RSUs; and the position calculation module is electrically connected with the at least four drive test equipment RSUs, the time delay calculation module and the distance calculation module, and is used for acquiring the position information of the at least four drive test equipment RSUs and calculating the position information of the vehicle-mounted equipment according to the position information of the at least four drive test equipment RSUs, the time delay and the distances between the vehicle-mounted equipment and the at least four drive test equipment RSUs.
In the above embodiment, the clocks of the clock counters provided on at least four of the drive test apparatuses RSU are synchronized with the world clock.
A third aspect of the present application provides an electronic device comprising: a processor; and a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method as described above.
According to the vehicle positioning method provided by the technical scheme, the coordinate positions of at least four road test equipment RSUs are obtained, the clock pulse counter is arranged on the road test equipment RSUs, the vehicle-mounted equipment is in signal connection with the at least four road test equipment, time delay when the vehicle-mounted equipment collects the pulse signals of the at least four road test equipment RSUs is obtained respectively, the distances between the vehicle-mounted equipment and the at least four road test equipment RSUs can be calculated, and then the relative positions between the at least four road test equipment RSUs and the vehicle-mounted equipment are combined to determine the specific coordinate position information of the vehicle-mounted equipment, so that the vehicle-mounted equipment and a vehicle can be quickly positioned, and the positioning is accurate, time-saving and labor-saving.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a schematic flow chart diagram illustrating a vehicle locating method according to an embodiment of the present application;
FIG. 2 is a block diagram illustrating a schematic structure of a positioning system according to an embodiment of the present disclosure;
fig. 3 is a block diagram schematically illustrating a structure of an electronic device according to an embodiment of the present application.
Description of reference numerals:
100. a positioning system; 101. a drive test equipment RSU; 102. an in-vehicle device; 103. a time delay calculation module; 104. a distance calculation module; 105. a position calculation module; 200. an electronic device; 201. a memory; 202. a processor.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Nowadays, in a vehicle positioning system, a GPS is generally used for positioning, but in places such as an underground parking lot where GPS signals are weak or even no GPS signals, a vehicle can only rely on a base station for positioning, and the error of the base station positioning is often large, so that a large error is generated during vehicle positioning, which wastes time and labor.
In view of the above problems, an embodiment of the present application provides a vehicle positioning method, which can quickly achieve vehicle positioning, and is accurate in positioning, time-saving and labor-saving.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a vehicle positioning method according to an embodiment of the present application.
Referring to fig. 1, a first aspect of the present application provides a vehicle positioning method, including:
step S100: and acquiring the position information of at least four drive test equipment RSUs.
Step S102: and respectively acquiring time delays when the vehicle-mounted equipment acquires pulse signals of at least four drive test equipment RSUs.
Step S104: and calculating the distances between the vehicle-mounted equipment and at least four road test units (RSUs) according to the time delay.
Step S106: and calculating the position information of the vehicle-mounted equipment according to the distances between the vehicle-mounted equipment and the at least four road test equipment RSUs and the position information of the at least four road test equipment RSUs.
According to the vehicle positioning method provided by the embodiment of the first aspect of the application, the coordinate positions of at least four drive test equipment RSUs are obtained by firstly obtaining the coordinate positions of the at least four drive test equipment RSUs, the step can be obtained by arranging the positioning devices on the at least four drive test equipment RSUs, wherein clock pulse counters are arranged on the at least four drive test equipment RSUs, and the at least four drive test equipment RSUs can be in communication connection with the vehicle-mounted equipment.
According to an embodiment of the application, before calculating the distances between the vehicle-mounted device and the at least four drive test devices RSUs according to the time delay, the method further includes:
the clocks of the clock pulse counters of at least four drive test equipment RSUs are synchronized with the world clock.
Because the world clock adopts the time of a Global Positioning System (GPS), the clocks of clock pulse counters arranged on at least four road test devices (RSUs) can be synchronized with the world clock by calculating the time difference between the world clock and the pulses, so that when the GPS has no signal, the accurate world time can be obtained by the clocks of the clock pulse counters, and the clocks of the at least four clock pulse counters can be synchronized, thereby being beneficial to improving the accuracy of Positioning of the vehicle-mounted device.
In some embodiments, respectively acquiring time delays when the vehicle-mounted device acquires pulse signals of at least four drive test devices RSUs includes:
respectively controlling at least four drive test equipment RSUs and vehicle-mounted equipment to simultaneously generate the same pseudo-random codes;
respectively acquiring delay time differences when time synchronization is realized by pseudo random codes generated by at least four road test equipment RSUs and vehicle-mounted equipment;
and determining the time delay when the vehicle-mounted equipment acquires the pulse signals of at least four drive test equipment RSUs according to the delay time difference.
In this embodiment, the drive test equipment RSU and the vehicle-mounted equipment are controlled to generate the same pseudo random code at the same time, and the delay time difference of the time synchronization is realized by obtaining the two pseudo random codes, where the delay time is the time delay when the vehicle-mounted equipment acquires the pulse signal of the drive test equipment RSU.
In some embodiments, the distance and the time delay between the vehicle-mounted device and the drive test device RSU satisfy:
di=c×(t-t0i)；
wherein d isiIs the distance between the vehicle-mounted equipment and the ith road test equipment RSU, t-t0When pulse signals on the ith drive test equipment RSU are collected for the vehicle-mounted equipmentC is the speed of light.
In some embodiments, the distance between the vehicle-mounted device and the drive test device RSU, the location information of the drive test device RSU, and the location information of the vehicle-mounted device satisfy:
(xi-x) 2+(yi-y) 2+(zi-z) 2+c2×(t-t0i)=di 2(ii) a Wherein x isi、yiAnd ziRespectively representing the latitude, longitude and elevation of the ith drive test equipment RSU, x, y and z respectively representing the latitude, longitude and elevation of the vehicle-mounted equipment, and t-t0iTime delay when pulse signals on the ith drive test equipment RSU are collected for vehicle-mounted equipment, c is light speed, diThe distance between the vehicle-mounted equipment and the ith drive test equipment RSU is obtained.
Specifically, when the number of the road equipment RSUs is four, the coordinate position of the vehicle-mounted equipment can be obtained by solving the following relational expression:
(x1-x) 2+(y1-y) 2+(z1-z) 2+c2×(t-t01)=d1 2；
(x2-x) 2+(y2-y) 2+(z2-z) 2+c2×(t-t02)= d2 2；
(x3-x) 2+(y3-y) 2+(z3-z) 2+c2×(t-t03)= d3 2；
(x4-x) 2+(y4-y) 2+(z4-z) 2+c2×(t-t04)= d4 2。
corresponding to the embodiment of the application function implementation method, the application also provides a positioning system, electronic equipment and corresponding embodiments.
Fig. 2 is a block diagram illustrating a structure of a positioning system 100 according to an embodiment of the present application.
Referring to fig. 2, an embodiment of the second aspect of the present application provides a positioning system 100, including: the system comprises at least four drive test equipment RSUs 101, wherein the at least four drive test equipment RSUs 101 are provided with clock pulse counters and positioning modules; the vehicle-mounted equipment 102 is used for receiving pulse signals of at least four pieces of drive test equipment; the time delay calculation module 103 is used for respectively calculating time delays when the vehicle-mounted device 102 acquires pulse signals of at least four drive test devices RSU 101; the distance calculation module 104 is configured to calculate distances between the vehicle-mounted device 102 and the at least four drive test devices RSU101 according to time delays when the vehicle-mounted device 102 acquires pulse signals of the at least four drive test devices RSU 101; and the position calculation module 105 is electrically connected with the positioning module, the time delay calculation module 103 and the distance calculation module 104, and is configured to acquire position information of at least four drive test equipment RSUs 101, and calculate position information of the vehicle-mounted equipment 102 according to the position information and the time delay of the at least four drive test equipment RSUs 101 and distances between the positioning module of the vehicle-mounted equipment 102 and the at least four drive test equipment RSUs 101.
The positioning system 100 provided by the embodiment of the second aspect of the present application includes at least four drive test devices, an on-board device 102, a time delay calculation module 103, a distance calculation module 104, and a position calculation module 105. The at least four drive test devices are provided with clock pulse counters and positioning modules, the vehicle-mounted device 102 is configured to receive pulse signals of the at least four drive test devices RSU101, and the time delay calculation module 103 is configured to calculate time delays when the vehicle-mounted device 102 acquires the pulse signals of the at least four drive test devices RSU101, specifically, the same pseudo random code can be generated by controlling the at least four drive test devices RSU101 and the vehicle-mounted device 102 respectively; and delay time differences when the pseudo-random codes generated by the at least four drive test equipment RSUs 101 and the vehicle-mounted equipment 102 are synchronized in time are respectively obtained, so that time delays when the vehicle-mounted equipment 102 collects pulse signals of the at least four drive test equipment RSUs 101 can be respectively obtained, the distance between the vehicle-mounted equipment 102 and the drive test equipment RSUs 101 can be obtained by multiplying the time delays by the light speed, then the coordinate position of the vehicle-mounted equipment 102 can be obtained by combining the coordinate positions of the at least four drive test equipment RSUs 101 and utilizing a positioning equation, the positioning efficiency is high, the positioning is accurate, time and labor are saved, and the rapid positioning of a vehicle is facilitated.
In the above embodiment, the clocks of the clock counters provided on at least four drive test equipment RSUs 101 are synchronized with the world clock.
Because the world clock adopts the time of the Global Positioning System (GPS 100), the clocks of the clock pulse counters arranged on the at least four drive test devices RSU101 can be synchronized with the world clock by calculating the time difference between the world clock and the pulses, so that when the GPS has no signal, the accurate world time can be obtained by the clocks of the clock pulse counters, and the clock synchronization of the at least four clock pulse counters can be realized, thereby contributing to improving the accuracy of the Positioning of the vehicle-mounted device 102.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 3 is a block diagram schematically illustrating a structure of an electronic device 200 according to an embodiment of the present application.
Referring to fig. 3, the electronic device 200 includes a memory 201 and a processor 202.
The Processor 202 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 201 may include various types of storage units such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are required by the processor or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 201 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 201 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory has stored thereon executable code which, when processed by the processor, causes the processor to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of the electronic device 200 (or an electronic device, a server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (9)

1. A vehicle positioning method, characterized by comprising:
acquiring position information of at least four drive test equipment RSUs;
respectively acquiring time delays when the vehicle-mounted equipment acquires pulse signals of at least four road test equipment RSUs;
respectively calculating the distances between the vehicle-mounted equipment and at least four road test equipment RSUs according to the time delay;
and calculating the position information of the vehicle-mounted equipment according to the distances between the vehicle-mounted equipment and the at least four road test equipment RSUs and the position information of the at least four road test equipment RSUs.
2. The vehicle positioning method according to claim 1, before calculating distances between the vehicle-mounted device and at least four of the drive test devices RSUs according to the time delay, further comprising:
and synchronizing the clocks of the clock pulse counters of at least four drive test equipment RSUs with a world clock.
3. The vehicle positioning method according to claim 1 or 2, wherein the respectively obtaining time delays when the vehicle-mounted device collects pulse signals of at least four drive test units (RSUs) comprises:
respectively controlling at least four drive test equipment RSUs and the vehicle-mounted equipment to simultaneously generate the same pseudo-random codes;
respectively acquiring delay time differences when time synchronization is realized between at least four drive test equipment RSUs and pseudo random codes generated by the vehicle-mounted equipment;
and determining the time delay when the vehicle-mounted equipment acquires the pulse signals of at least four drive test equipment RSUs according to the delay time difference.
4. The vehicle positioning method according to claim 3, wherein the distance between the vehicle-mounted device and the drive test unit (RSU) and the time delay satisfy:
di=c×(t-t0i)；
wherein d isiThe distance between the vehicle-mounted device and the ith drive test device RSU is obtained,
t-t0 iand c is the speed of light when the vehicle-mounted equipment acquires the pulse signal on the ith drive test equipment RSU.
5. The vehicle positioning method according to claim 4, wherein a distance between the vehicle-mounted device and the drive test device RSU, the position information of the drive test device RSU, and the position information of the vehicle-mounted device satisfy:
(xi-x) 2+(yi-y) 2+(zi-z) 2+c2×(t-t0i)=di 2；
wherein, the xiThe yiAnd z is saidiRespectively representing the latitude, longitude and elevation of the ith drive test equipment RSU, wherein x, y and z respectively represent the latitude, longitude and elevation of the vehicle-mounted equipment, and t-t0iTime delay when the vehicle-mounted equipment acquires the pulse signal on the ith drive test equipment RSU, wherein c is the speed of light and diAnd the distance between the vehicle-mounted equipment and the ith drive test equipment RSU is obtained.
6. A positioning system, comprising:
the system comprises at least four drive test equipment RSUs, wherein the at least four drive test equipment RSUs are provided with clock pulse counters and positioning modules;
the vehicle-mounted equipment is used for receiving pulse signals of at least four pieces of drive test equipment;
the time delay calculation module is used for respectively calculating time delays when the vehicle-mounted equipment acquires pulse signals of at least four road test equipment RSUs;
the distance calculation module is used for calculating the distances between the vehicle-mounted equipment and the at least four drive test equipment RSUs according to the time delay when the vehicle-mounted equipment collects the pulse signals of the at least four drive test equipment RSUs;
and the position calculation module is electrically connected with the at least four drive test equipment RSUs, the time delay calculation module and the distance calculation module, and is used for acquiring the position information of the at least four drive test equipment RSUs and calculating the position information of the vehicle-mounted equipment according to the position information of the at least four drive test equipment RSUs, the time delay and the distances between the vehicle-mounted equipment and the at least four drive test equipment RSUs.
7. The positioning system of claim 6,
clocks of clock counters arranged on at least four drive test equipment RSUs are synchronous with a world clock.
8. An electronic device, comprising:
a processor; and
memory having stored thereon executable code which, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1-5.
9. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the steps of the method of any one of claims 1-5.
CN202110330336.4A 2021-03-29 2021-03-29 Vehicle positioning method, positioning system, electronic device, and storage medium Pending CN112799013A (en)

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Application Number Priority Date Filing Date Title
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105138569A (en) * 2015-07-24 2015-12-09 李遵白 Method for generating and using bubble data and geographic expression information system
CN109633543A (en) * 2018-12-14 2019-04-16 北京汽车集团有限公司 Localization method and device based on car networking
US20190182641A1 (en) * 2017-12-12 2019-06-13 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Using ranging over c-v2x to supplement and enhance gps performance
CN109996330A (en) * 2019-04-11 2019-07-09 深圳成有科技有限公司 A kind of bus or train route collaboration indoor orientation method and system
CN112540344A (en) * 2019-09-20 2021-03-23 西安中兴新软件有限责任公司 Positioning method, device, system, terminal and storage medium for position of Internet of vehicles equipment

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105138569A (en) * 2015-07-24 2015-12-09 李遵白 Method for generating and using bubble data and geographic expression information system
US20190182641A1 (en) * 2017-12-12 2019-06-13 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Using ranging over c-v2x to supplement and enhance gps performance
CN109633543A (en) * 2018-12-14 2019-04-16 北京汽车集团有限公司 Localization method and device based on car networking
CN109996330A (en) * 2019-04-11 2019-07-09 深圳成有科技有限公司 A kind of bus or train route collaboration indoor orientation method and system
CN112540344A (en) * 2019-09-20 2021-03-23 西安中兴新软件有限责任公司 Positioning method, device, system, terminal and storage medium for position of Internet of vehicles equipment

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