CN113630739A - PC5 short-range communication road side equipment for providing high-precision positioning service - Google Patents
PC5 short-range communication road side equipment for providing high-precision positioning service Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The invention discloses PC5 short-range communication roadside equipment for providing high-precision positioning service, which comprises a main processing unit, a PC5 short-range communication unit, a differential positioning edge calculation unit, a GNSS receiver unit and a 5G communication unit, wherein the PC5 short-range communication unit receives GNSS information sent by a vehicle-mounted terminal, the GNSS information is preprocessed by the main processing unit and then sent to the differential positioning edge calculation unit, the differential positioning edge calculation unit carries out differential calculation by combining the GNSS information sent by the GNSS receiver unit and the calibrated longitude and latitude information to obtain high-precision GNSS positioning information, and then the high-precision GNSS positioning information is sent to the vehicle-mounted terminal by the PC5 short-range communication unit after being processed by the main processing unit to realize high-precision positioning of the vehicle-mounted terminal; the 5G communication unit is connected with the main processing unit and used for providing network services.
Description
Technical Field
The invention relates to the field of intelligent transportation and vehicle-road cooperation, in particular to a PC5 short-range communication road side device for providing high-precision positioning service.
Background
With the rapid development of 5G communication, big data, cloud computing, artificial intelligence and Internet of things, the Internet of vehicles becomes the main direction of the global new round of industrial competition. High-precision positioning is a key technology in the field of vehicle networking, GNSS positioning information is used as key information of vehicle states and is used as data which are most frequently interacted with vehicles and roads in cooperation with V2V and V2I, the accuracy and the accuracy of the GNSS positioning information are keys for realizing traffic safety and automatic driving, and the GNSS positioning information is a key for ensuring the accuracy and the practicability of application scenes of V2V and V2I.
The traditional high-precision differential positioning needs to use a separate reference station and a separate computing platform, which are generally provided by special manufacturers and used for high-precision positioning services. If the on-board unit (OBU) uses the positioning service provided by the manufacturer, an account number of the precision positioning service needs to be purchased, the long-term charge is carried out according to the year/month and the like, each OBU needs to purchase the account number, and in addition, the OBU needs to be connected to a computing platform (computing server) of the manufacturer in a 4G/5G mode, extra traffic fee is needed, and therefore the cost required to be invested by a user is high.
The method is characterized in that the method is connected to a server of a manufacturer in a 4G/5G mode, GNSS information is reported to the server, the high-precision positioning mode corrected by the server is received, the network delay is large, and under the condition that the coverage rate of a 5G base station is not high, the two-way delay of 4G communication is about 100ms generally.
Disclosure of Invention
The purpose of the invention is as follows: the technical problem to be solved by the invention is to provide a PC5 short-range communication road side device for providing high-precision positioning service aiming at the defects of the prior art.
In order to solve the technical problem, the invention discloses a PC5 short-range communication roadside device for providing high-precision positioning service, which comprises a main processing unit, a PC5 short-range communication unit, a differential positioning edge calculation unit, a GNSS receiver unit and a 5G communication unit;
the PC5 short-range communication unit is used for receiving GNSS information sent by the vehicle-mounted terminal;
the main processing unit preprocesses GNSS information received by the PC5 short-range communication unit, and the preprocessed GNSS information is sent to the differential positioning edge calculation unit;
the differential positioning edge computing unit is used for performing GNSS longitude and latitude correction by combining GNSS information sent by the GNSS receiver unit and calibrated longitude and latitude information of the differential positioning edge computing unit, and obtaining a GNSS longitude and latitude correction difference value after differential calculation; the GNSS longitude and latitude correction difference value is used for correcting GNSS information preprocessed by the main processing unit to obtain high-precision GNSS positioning information;
the high-precision GNSS positioning information is processed by the main processing unit and then sent to the vehicle-mounted terminal by the PC5 short-range communication unit, so that the high-precision positioning of the vehicle-mounted terminal is realized; the 5G communication unit is connected with the main processing unit and used for providing network services.
The roadside device can realize high-precision positioning by adding a low-cost edge computing unit and assisting a real-time position differential positioning algorithm, a reference station and a computing platform are not needed, the cost is reduced, data transmission is carried out between the roadside device and the vehicle-mounted terminal through PC5 direct communication, the one-way communication delay is less than 10ms, the two-way communication delay is less than 20ms, and low-delay positioning service is realized.
Further, the in-vehicle terminal includes a GNSS receiver unit, a main processing unit, and a PC5 communication unit.
Further, the in-vehicle terminal GNSS receiver unit receives GNSS information, and the PC5 communication unit is for communicating with the PC5 short-range communication unit.
Furthermore, the PC5 short-range communication unit accords with the 3GPPRelease14 standard, uses a 5.905-5.925 GHz exclusive frequency band, can realize short-range direct communication with the vehicle-mounted terminal, and communication delay is less than 10 ms.
Further, the main processing unit is internally provided with a C-V2X soft protocol stack and can be interconnected with an external C-V2X device;
further, the main processing unit can perform preprocessing on the GNSS information to obtain a GNSS longitude observation value and a GNSS latitude observation value transmitted by the vehicle-mounted terminal.
Furthermore, the differential positioning edge calculation unit adopts a real-time position differential positioning algorithm to perform differential solution on the GNSS information and the calibrated latitude and longitude information sent by the GNSS receiver unit, and corrects the GNSS longitude observed value and the GNSS latitude observed value obtained after the processing by the main processing unit.
Further, the real-time position differential positioning algorithm comprises the following steps:
step 1, recording the longitude and latitude of the installation point location of the PC5 short-range communication road side equipment as E0And N0；
Step 2, the differential positioning edge computing unit analyzes GNSS information sent by the GNSS receiver unit of the differential positioning edge computing unit to obtain a longitude and latitude observation value E of the current timetAnd NtThe GNSS information sending frequency of the GNSS receiver unit is 20Hz, and the observed value of longitude and latitude of the next resolution is recorded as Et+1And Nt+1Averaging the two observations to obtain ETAnd NTThe formula is as follows:
step 3, recording the GNSS longitude and latitude correction difference as delta ETAnd Δ NTThe formula is as follows:
step 4, filtering the GNSS latitude and longitude correction difference value, comprising:
if Δ ET＞M，ΔETM; if Δ NT＞M，ΔNTWhere M is a constant, or a salt thereof,
if Δ ET+1-ΔET|＞L，
Wherein L is a constant, and L is a constant,
if | Δ NT-ΔNT-1|＞L，
Wherein L is a constant, and L is a constant,
in other cases,. DELTA.ET、ΔNTThe value of (a) is kept constant,
wherein Δ ET-1And Δ NT-1And the correction difference value is the average value of the two GNSS latitude and longitude observation values before the current time t.
Step 5, the PC5 short-range communication unit receives GNSS information sent by the vehicle-mounted terminal, the GNSS information is analyzed by the main processing unit to obtain vehicle-mounted terminal GNSS observed values E and N, the GNSS longitude and latitude correction difference value filtered at the current moment is taken, the vehicle-mounted terminal GNSS observed value is corrected, and high-precision vehicle-mounted terminal GNSS longitude and latitude values E 'and N' are obtained, and the formula is as follows:
further, in the step 1, the PC5 short-range communication road-side device is installed on a city road, once the device is installed, the point location is fixed, and the accurate longitude and latitude of the device installation point location is obtained through a surveying and mapping means.
Further, in step 4, in order to prevent a sudden change of the GNSS longitude and latitude correction difference value due to factors such as an ionosphere, a troposphere, electromagnetic interference and the like, filtering processing needs to be performed on the GNSS longitude and latitude correction difference value.
Further, the calculated high-precision GNSS longitude and latitude values of the vehicle-mounted terminal are sent to the main processing unit for message encapsulation by the differential positioning edge calculation unit, so that a high-precision GNSS message is obtained; then the PC5 short-range communication unit sends the high-precision GNSS message to the vehicle-mounted terminal, and the vehicle-mounted terminal can obtain the high-precision GNSS positioning information.
Has the advantages that: the high-precision differential reference station and the computing platform are innovatively sunk into the PC5 short-range communication roadside device, compared with a high-precision differential positioning scheme consisting of a traditional reference station, a traditional rover station and a traditional computing platform, deployment of the reference station is omitted, the computing platform is sunk into the PC5 short-range communication roadside device in a distributed mode, use cost is greatly reduced, and low-delay high-precision positioning service can be provided for a vehicle-mounted terminal while C-V2X PC5 direct communication is provided.
Drawings
FIG. 1 is a block diagram of a PC5 short-range communications roadside device providing high-accuracy location services in accordance with the present invention;
fig. 2 is a schematic diagram of communication between the PC5 short-range communication road side device and the vehicle-mounted terminal.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present invention discloses a PC5 short-range communication roadside device providing high-precision positioning service, comprising a main processing unit, a PC5 short-range communication unit, a differential positioning edge calculation unit, a GNSS receiver unit and a 5G communication unit;
the PC5 short-range communication unit is in direct communication with the vehicle-mounted terminal through a PC5 antenna, receives GNSS information sent by the vehicle-mounted terminal, and then sends the GNSS information to the main processing unit in a message form, and the main processing unit preprocesses the GNSS message and sends the processed GNSS longitude observation value and the processed GNSS latitude observation value to the differential positioning edge calculation unit;
the differential positioning edge calculation unit performs differential solution on GNSS information sent by the GNSS receiver unit and the calibrated latitude and longitude information by using a real-time position differential positioning algorithm, corrects the GNSS longitude observation value and the GNSS latitude observation value obtained after the processing of the main processing unit, and finally obtains a GNSS correction value;
then sending the GNSS correction value to a main processing unit for message packaging to obtain a high-precision GNSS message; sending the high-precision GNSS message to a PC5 short-range communication unit, wherein the PC5 short-range communication unit directly communicates with a PC5 communication unit on the vehicle-mounted terminal, and sends high-precision GNSS positioning information to the vehicle-mounted terminal, so as to realize high-precision positioning of the vehicle-mounted terminal, as shown in fig. 2; the 5G communication unit is connected with the main processing unit and used for providing network services.
The differential positioning edge computing unit adopts a Texas instrument AM335X processor, based on an ARM Cortex-A8 kernel, the highest dominant frequency can reach 720MHZ, the differential positioning edge computing requirement can be met, the differential positioning edge computing unit acquires GNSS information of a vehicle-mounted terminal by using a PC5 short-range communication unit, and performs differential solution according to a real-time position differential positioning algorithm by combining the GNSS information sent by the GNSS receiver unit and calibrated latitude and longitude information to obtain high-precision GNSS positioning information.
The main processing unit adopts an NXP IMX8M high-performance processor, comprises four ARM Cortex-A53 kernels with the frequency up to 1.3GHz, is configured with a 2G memory and an 8G flash memory, carries a Linux operating system, analyzes a vehicle-mounted terminal GNSS message sent by a PC5 short-range communication unit, is internally provided with a C-V2X soft protocol stack, and can realize interconnection with any C-V2X equipment.
The PC5 short-range communication unit adopts a large Tang DMD31 module, accords with the 3GPPRelease14 standard, uses a 5.905-5.925 GHz exclusive frequency band, can directly communicate with a vehicle-mounted terminal to acquire GNSS information, does not need to pass through a cellular base station, and has communication delay less than 10 ms.
The 5G communication unit adopts a remote RM500Q communication module, supports 5GNSA and SA modes based on a 3gpp real 15 technology, supports a maximum downlink rate of 2.51bps and a maximum uplink rate of 900Mbps, and provides network service for road side devices for updating configuration information and remote management of the devices.
The GNSS receiver unit supports BDS B1/B2/B3, GPS L1/L2/L5, GLONASS L1/L2, Galileo E1/E5a/E5B and other frequency bands, and has a data updating frequency of 20Hz and a positioning updating frequency of 20Hz on the basis of a Nebulas-II multi-system multi-frequency high-performance SoC chip.
The real-time position differential positioning algorithm comprises the following steps:
step 1, recording the longitude and latitude of the installation point location of the PC5 short-range communication road side equipment as E0And N0(ii) a Obtaining the accurate longitude and latitude of the installation point position of the equipment by mapping, wherein the longitude E0Is 118.86510322Latitude N032.01276239;
step 2, the differential positioning edge computing unit analyzes GNSS information sent by the GNSS receiver unit of the differential positioning edge computing unit to obtain a longitude and latitude observation value E of the current timetAnd NtThe GNSS information sending frequency of the GNSS receiver unit is 20Hz, and the observed value of longitude and latitude of the next resolution is recorded as Et+1And Nt+1Averaging the two observations to obtain ETAnd NTThe formula is as follows:
actually measured current time T0To T0Within +100 ms time interval, the GNSS information sent by the own GNSS receiver unit, where T is T ═ T0，t+1＝T0+100, the last 2 GNSS observations analyzed by the differential positioning edge calculation unittIs 118.86514181, NtIs 32.01277168, Et+1Is 118.86514174, Nt+132.01277176; taking an average value E of two observed values according to a formula in the step 2TIs 118.865141775, NTIs 32.01277172.
Step 3, recording the GNSS longitude and latitude correction difference as delta ETAnd Δ NTThe formula is as follows:
according to step 3,. DELTA.ETIs 0.000038555, Δ NTIs 0.00000933.
Step 4, filtering the GNSS latitude and longitude correction difference value, comprising:
if Δ ET＞M，ΔETM; if Δ NT＞M，ΔNTWhere M is a constant, or a salt thereof,
if Δ ET+1-ΔET|＞L，
Wherein L is a constant, and L is a constant,
if | Δ NT-ΔNT-1|＞L，
Wherein L is a constant, and L is a constant,
in other cases,. DELTA.ET、ΔNTThe value of (a) is kept constant,
wherein Δ ET-1And Δ NT-1And the correction difference value is the average value of the two GNSS latitude and longitude observation values before the current time t.
According to the step 4, the amplitude limit of the correction difference is within 15 meters, the correction difference value M is 0.0001, the constant L is a filtering factor and the value range is (0, M) according to the calculation definition of a GNSS WGS84 coordinate system, when the value of L is close to 0, the normal value is filtered due to the fact that the amplitude limit is too small, and the calculation of the GNSS longitude and latitude correction difference value delta E is influencedTAnd Δ NTThe accuracy of (2); when the value of L tends to M, the filtering effect is poor due to overlarge amplitude limit, and abnormal values generated after the mutation of the GNSS latitude and longitude correction difference value due to factors such as an ionosphere, a troposphere, electromagnetic interference and the like cannot be filtered; and dynamically adjusting the value of L according to the standard of whether an abnormal value appears in the actual filtering, wherein the value of L is 0.00005 in the embodiment.
Due to the current time T0To T0Within +100 ms time interval, the program just starts to run, so the current time T0The previous two GNSS latitude and longitude observations are not collected, i.e. Delta ET-1And Δ NT-1Is absent, does not require Δ ET-1And Δ NT-1Participating in the operation, only the program running to the next calculation cycle (T)0+100 to T0Within +200 ms time interval) to acquire Δ ET-1And Δ NT-1Thus, according to the formula of step 4, Δ E after filteringTStill 0.000038555, Δ NTStill 0.00000933.
Step 5, the PC5 short-range communication unit receives GNSS information sent by the vehicle-mounted terminal, and sends the GNSS information to the main processing unit for analysis to obtain vehicle-mounted terminal GNSS observed values E and N, and the GNSS longitude and latitude correction difference value after being filtered at the current moment is taken to correct the vehicle-mounted terminal GNSS observed values to obtain high-precision vehicle-mounted terminal GNSS longitude and latitude values E 'and N', wherein the formula is as follows:
actually measured current time T0To T0In the +100 millisecond time interval, the GNSS information sent by the vehicle-mounted terminal is analyzed to obtain the GNSS observation value E of the vehicle-mounted terminal as 118.86703298, N as 32.01241416, and according to the formula in the step 5, the high-precision GNSS longitude and latitude value E 'of the vehicle-mounted terminal is 118.867071535, and N' is 32.01242349.
The above steps describe the current time T when the program starts to run0To T0One calculation period of +100 milliseconds gives T0To T0Within the +100 millisecond time window, the vehicle-mounted terminal has high-precision GNSS longitude and latitude values. In the second calculation cycle of the program run, i.e. T0+100 to T0Within +200 ms time interval:
according to step 2, T is actually measured0+100 to T0Within the time interval of +200 milliseconds, GNSS information sent by the GNSS receiver unit is analyzed by the differential positioning edge calculation unit, and two GNSS observation values EtIs 118.86514142, NtIs 32.01277171, Et+1Is 118.86514164, Nt+132.01277163; taking an average value E of two observed values according to a formula in the step 2TIs 118.86514153, NTIs 32.01277167.
According to the formula of step 3, the current calculation period delta ETIs 0.00003831, Δ NTIs 0.00000928. Δ E of last calculation cycleT、ΔNTThat is, the correction difference Δ E of the average of the GNSS latitude and longitude observations twice before the current computation cycleT-1And Δ NT-1(ii) a From the calculation result of the previous calculation cycle, Δ ET-1Is 0.000038555, Δ NT-1Is 0.00000933.
According to step 4,. DELTA.ET、ΔNTDo not exceed the limit M, i.e.ΔET＜M，ΔNT< M; and | Δ ET-ΔET-1|＜L、|ΔNT-ΔNT-1L < so Δ ET、ΔNTRemains unchanged, Δ ETStill 0.00003831, Δ NTStill 0.00000928.
According to step 5, the current calculation period T is actually measured0+100 to T0In the +200 millisecond time interval, the GNSS information sent by the vehicle-mounted terminal is analyzed to obtain the GNSS observation value E of the vehicle-mounted terminal as 118.86703353, N as 32.01241393, and according to the formula in the step 5, the high-precision GNSS longitude and latitude value E 'of the vehicle-mounted terminal is 118.86707184, and N' is 32.01242321.
The above embodiment describes the specific steps of the algorithm in the 1 st and 2 nd calculation cycles after the device is powered on, and the processing Δ E in the 1 st and 2 nd calculation cyclesT-1、ΔNT-1The reason for this is explained in the above process. After the second calculation cycle, the calculation steps are consistent with the 2 nd calculation cycle in the 3 rd and 4 … … th calculation cycles.
According to the PC5 short-range communication roadside device, the high-precision differential reference station and the calculation platform which are used for high-precision positioning of the vehicle-mounted terminal in the prior art are sunk into the PC5 short-range communication roadside device by calibrating the longitude and latitude information of the PC5 and combining the built-in differential positioning edge calculation unit, the arrangement of the traditional reference station is omitted, the use cost is greatly reduced, and the PC5 short-range communication roadside device can provide C-V2X PC5 direct connection communication and low-delay high-precision positioning service.
The present invention provides a PC5 short-range communication roadside device providing high-precision positioning service, and the method and the way for implementing the technical solution are many, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (6)
1. A PC5 short-range communication roadside device providing high-precision positioning service, characterized by comprising a PC5 short-range communication unit, a main processing unit, a differential positioning edge calculation unit, a GNSS receiver unit and a 5G communication unit;
the PC5 short-range communication unit is used for receiving GNSS information sent by the vehicle-mounted terminal;
the main processing unit preprocesses GNSS information received by the PC5 short-range communication unit, and the preprocessed GNSS information is sent to the differential positioning edge calculation unit;
the differential positioning edge computing unit is used for performing GNSS longitude and latitude correction by combining GNSS information sent by the GNSS receiver unit and calibrated longitude and latitude information of the differential positioning edge computing unit, and obtaining a GNSS longitude and latitude correction difference value after differential calculation; the GNSS longitude and latitude correction difference value is used for correcting GNSS information preprocessed by the main processing unit to obtain high-precision GNSS positioning information;
the high-precision GNSS positioning information is processed by the main processing unit and then sent to the vehicle-mounted terminal by the PC5 short-range communication unit, so that the high-precision positioning of the vehicle-mounted terminal is realized; the 5G communication unit is connected with the main processing unit and used for providing network services.
2. The PC5 short-range communication roadside device for providing high-precision positioning service as claimed in claim 1, wherein the differential positioning edge computing unit employs a real-time position differential positioning algorithm to perform differential solution on the GNSS information and the calibrated latitude and longitude information sent from its GNSS receiver unit, and to correct the GNSS longitude observation and the GNSS latitude observation obtained after the processing by the main processing unit.
3. The PC5 RSU of claim 2, wherein the algorithm for real-time position differential positioning performed by the differential positioning edge calculation unit comprises the following steps:
step 1, recording the longitude and latitude of the installation point location of the PC5 short-range communication road side equipment as E0And N0；
Step 2, the differential positioning edge computing unit analyzes GNSS information sent by the GNSS receiver unit of the differential positioning edge computing unit to obtain a longitude and latitude observation value E of the current timetAnd NtThe GNSS information sending frequency of the GNSS receiver unit is 20Hz, and the longitude and latitude observation value of the next analysis is recorded as Et+1And Nt+1Averaging the two observations to obtain ETAnd NTThe formula is as follows:
step 3, recording the GNSS longitude and latitude correction difference as delta ETAnd Δ NTThe formula is as follows:
step 4, filtering the GNSS latitude and longitude correction difference value, comprising:
if Δ ET＞M，ΔETM; if Δ NT＞M，ΔNTWhere M is a constant, or a salt thereof,
if Δ ET+1-ΔET|＞L，
Wherein L is a constant, and L is a constant,
if | Δ NT-ΔNT-1|＞L，
Wherein L is a constant, and L is a constant,
in other cases,. DELTA.ET、ΔNTThe value of (a) is kept constant,
wherein Δ ET-1And Δ NT-1The correction difference value is the average value of two GNSS longitude and latitude observation values before the current time t;
step 5, the PC5 short-range communication unit receives GNSS information sent by the vehicle-mounted terminal, the GNSS information is analyzed by the main processing unit to obtain vehicle-mounted terminal GNSS observed values E and N, the GNSS longitude and latitude correction difference value filtered at the current moment is taken, the vehicle-mounted terminal GNSS observed value is corrected, and high-precision vehicle-mounted terminal GNSS longitude and latitude values E 'and N' are obtained, and the formula is as follows:
4. the PC5 RSU of claim 1, wherein the main processing unit is configured to encapsulate GNSS longitude and latitude values of the high-precision vehicle-mounted terminal calculated by the differential positioning edge calculation unit to obtain a high-precision GNSS message.
5. The PC5 short-range communication roadside device for providing high-precision positioning service as claimed in claim 1, wherein the PC5 short-range communication unit conforms to 3GPPRelease14 standard, short-range direct communication with a vehicle-mounted terminal can be realized by using a 5.905-5.925 GHz dedicated frequency band, and communication delay is less than 10 ms.
6. The PC5 short-range communication roadside device for providing high-precision positioning service of claim 1, wherein the main processing unit is provided with a built-in C-V2X soft protocol stack capable of interconnecting with an external C-V2X device.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023005707A1 (en) | 2023-02-02 |
| CN113630739B (en) | 2024-03-22 |
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