CN113740800A - Driving positioning system and driving positioning method - Google Patents
Driving positioning system and driving positioning method Download PDFInfo
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- CN113740800A CN113740800A CN202010470930.9A CN202010470930A CN113740800A CN 113740800 A CN113740800 A CN 113740800A CN 202010470930 A CN202010470930 A CN 202010470930A CN 113740800 A CN113740800 A CN 113740800A
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- 238000006073 displacement reaction Methods 0.000 description 2
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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
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
A vehicle positioning system, comprising: the wireless transceiving unit is arranged on the street lamp and used for transmitting and receiving signals, judging whether the current weather influences the transmitting power, and retransmitting the signals after compensating the transmitting power attenuation value when determining that the current weather influences the transmitting signals; and the positioning unit is arranged on the vehicle and used for receiving the signal transmitted by the wireless transceiving unit and determining the coordinate point of the vehicle according to the signal, so that the positioning is not easily influenced by weather, and the positioning accuracy is improved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a driving positioning system and a driving positioning method.
Background
The positioning technology can not only provide various location-based services, such as information inquiry of surrounding shops, gas stations, restaurant locations and the like, but also be used for rescue in emergency situations, vehicle dispatching and the like. At present, the automobile positioning and navigation mainly comprises an star positioning system, and the positioning system is prone to being influenced by weather, cannot be positioned or is inaccurate, and brings trouble to users.
Disclosure of Invention
In view of the above, it is desirable to provide a driving positioning system, which is not easily affected by weather and improves positioning accuracy.
The present invention provides a traveling crane positioning system, including:
the wireless transceiving unit is arranged on the street lamp and used for transmitting and receiving signals, judging whether the current weather influences the transmitting power, and retransmitting the signals after compensating the transmitting power attenuation value when determining that the current weather influences the transmitting signals;
and the positioning unit is arranged on the vehicle and used for receiving the signal transmitted by the wireless transceiving unit and determining the coordinate point of the vehicle according to the signal.
Preferably, the number of the wireless transceiver units is at least two, and each wireless transceiver unit is further configured to preset a standard transmission power value for receiving an adjacent wireless transceiver unit;
when a wireless transceiving unit receives a signal transmitted by an adjacent wireless transceiving unit, judging whether the power of the signal is within a preset range, if not, influencing the transmitting power by the current weather.
Preferably, if the current weather affects the transmission power, the wireless transceiver unit calculates a difference between the power of the signal and the standard transmission power value, and retransmits the signal after taking the difference as a compensation value of the transmission power of the wireless transceiver unit.
Preferably, the positioning unit is further configured to:
determining whether a process of determining a coordinate point of the vehicle causes a delay;
if the delay is caused, calculating a compensation value of the vehicle position according to the speed of the vehicle and the delay time to determine a final coordinate point.
Preferably, when the vehicle is not running, the positioning unit judges that the process of determining the coordinate point of the vehicle causes no delay;
the positioning unit determines that a process of determining the coordinate point of the vehicle causes a delay while the vehicle is running.
The invention provides a driving positioning method, which is applied to a driving positioning system, wherein the driving positioning system comprises a wireless receiving and transmitting unit arranged on a street lamp and a positioning unit arranged on a vehicle, and the method comprises the following steps:
the wireless transceiving unit transmits a signal;
judging whether the current weather influences the transmitting power;
if the current weather influences the transmitting power, compensating the transmitting power attenuation value;
retransmitting the signal;
the positioning unit receives the signal;
determining a coordinate point of the vehicle from the signal.
Preferably, the number of the wireless transceiver units is at least two, and the step of determining whether the current weather has an influence on the transmission power specifically includes:
presetting a standard transmitting power value of each wireless transmitting and receiving unit for receiving adjacent wireless transmitting and receiving units;
when a wireless transceiver unit receives a signal transmitted by an adjacent wireless transceiver unit, calculating the difference value between the power of the signal and the standard transmission power value;
judging whether the power of the signal is within a preset range or not;
if the power of the signal is not within the preset range, the current weather influences the transmission power.
Preferably, the step of compensating for the transmission power attenuation value if the current weather has an influence on the transmission power specifically includes:
calculating a difference between the power of the signal and the standard transmission power value;
and taking the difference value as a compensation value of the transmitting power of the wireless transceiving unit.
Preferably, the method further comprises:
judging whether the process of determining the coordinate point of the vehicle causes time delay or not;
and if the time delay is caused, calculating a compensation value of the vehicle position according to the speed of the vehicle and the time of the time delay so as to determine a final coordinate point.
Preferably, the step of determining whether the process of determining the coordinate point of the vehicle causes a delay includes:
when the vehicle does not run, the positioning unit judges that the process of determining the coordinate point of the vehicle does not cause time delay;
when the vehicle runs, the positioning unit judges that a process of determining the coordinate point of the vehicle causes a delay.
Compared with the prior art, the driving positioning system and the driving positioning method provided by the embodiment of the invention realize positioning by receiving the signal transmitted by the wireless receiving and transmitting unit arranged on the street lamp through the positioning unit arranged on the vehicle, and improve the positioning accuracy by retransmitting the signal after compensating the transmission power attenuation value when determining that the current weather has influence on the transmitted signal.
Drawings
FIG. 1 is a diagram of a driving positioning system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an ideal position relationship between a wireless transceiver and a vehicle in an embodiment of a driving positioning system of the present invention.
Fig. 3 is a schematic diagram of an actual position relationship between a wireless transceiver and a vehicle in an embodiment of a driving positioning system of the present invention.
Fig. 4 is a schematic flow chart of an embodiment of a driving positioning method according to the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of a driving positioning system 10 according to an embodiment of the present invention. In the present embodiment, the driving positioning system 10 includes a wireless transceiver unit 100 and a positioning unit 101. The wireless transceiver unit 100 is installed on a street lamp, and each street lamp is installed with one wireless transceiver unit 100. The positioning unit 101 is provided on the vehicle.
In this embodiment, the wireless transceiver unit 100 is configured to transmit and receive signals, and further configured to determine whether the current weather has an influence on the transmission power, and when it is determined that the current weather has an influence on the transmission signal, compensate the transmission power attenuation value and retransmit the signal. And the positioning unit 101 is used for receiving the signal transmitted by the wireless transceiver unit and determining the coordinate point of the vehicle according to the signal. The number of the wireless transceiver units 100 is at least three, and the transmitting power of each wireless transceiver unit 100 installed on the street lamp is different under different weather conditions, which may cause positioning errors, and the difference between the transmitting energy received by each two adjacent wireless transceiver units 100 on the street lamp and the standard transmitting power value is used for compensation.
Specifically, each radio transceiver unit 100 is preset with a standard transmission power value for receiving the adjacent radio transceiver unit 100; when the wireless transceiver unit 100 receives a signal transmitted by an adjacent wireless transceiver unit 100, it is determined whether the power of the signal is within a preset range, and if the power of the signal is not within the preset range, the current weather affects the transmission power. If the current weather affects the transmission power, a wireless transceiver unit 100 calculates a difference between the power of the signal and the standard transmission power value, and retransmits the signal after taking the difference as a compensation value of the transmission power of the wireless transceiver unit 100.
In practical applications, when two adjacent wireless transceiving units 100 on a street lamp are installed for the first time, the transmitting power of each other is set as a standard, the received power may change due to weather changes or environmental changes, and compensation is needed if the received power exceeds a preset range. For example, in a fine day during initial installation, the standard value of the transmission power received by the radio transceiver unit 100 is-10 dBm, and in a rainy day, the transmission power received by the radio transceiver unit 100 is-12 dBm, which requires 2dBm compensation for the radio transceiver unit 100.
In the present embodiment, the positioning unit 101 is further configured to determine whether the process of determining the coordinate point of the vehicle causes a delay. Specifically, the positioning unit 101 takes time in the process of calculating and determining the coordinate point of the vehicle, and displacement errors are generated when the vehicle is running, resulting in positioning delay. That is, when the vehicle is not running, the positioning unit judges that the process of determining the coordinate point of the vehicle causes no delay. The positioning unit determines that a process of determining the coordinate point of the vehicle causes a delay while the vehicle is running. If a delay is caused, the positioning unit 101 calculates a compensation value of the vehicle position according to the speed of the vehicle and the time of the delay to determine a final coordinate point. Specifically, the positioning unit 101 obtains the speed of the vehicle according to a driving record module inside the vehicle, and assuming that the current speed of the vehicle is 60km/h and the delay time is 1s, the offset of the vehicle is 16.67 m. If the vehicle is driving north at this time, the positioning unit 101 compensates the compensation value 16.67 for north to determine the final coordinate point.
Referring to fig. 2, fig. 2 is a schematic diagram of an ideal position relationship between a wireless transceiver unit and a vehicle in an embodiment of the driving positioning system 10 of the present invention. As shown in the figure, ideally, the three circles are made with the transmitting signal ends of the three wireless transmitting units 100 as the center and the radii D1, D2 and D3 as the radiuses, so that the three circles intersect at a point D. The positions of the centers of the three sets of wtrus 100 are known as a (X1, Y1), B (X2, Y2), and C (X3, Y3), respectively, and the position of the vehicle to be tested is known as D (X, Y). Ideally, there are the following:
(X-X1)2+(Y-Y1)2＝d12formula (1)
(X-X2)2+(Y-Y2)2＝d22Formula (2)
(X-X3)2+(Y-Y3)2＝d32Formula (3)
However, in the actual positioning process, the positioning device may be interfered and influenced by external environmental factors, and in the process of calculating the distance from the location D to be positioned to the 3 known wireless transceiver units 100, there may occur a situation that 3 circles do not intersect at one point, as shown in fig. 3, two circles intersect at two points, and three circles intersect at six points, which are:
the intersection of circle a with circle B (Xab1, Yab1), (Xab2, Yab 2);
the intersection of circle a with circle C (Xac1, Yac1), (Xac2, Yac 2);
the intersection points (Xbc1, Ybc1), (Xbc2, Ybc2) of circle B with circle C.
Firstly, two intersection points (Xab1, Yab1) and (Xab2, Yab2) of a circle A and a circle B are obtained according to an equation (1) and an equation (2), intersection points (Xac1, Yac1) and (Xac2, Yac2) of the circle A and the circle C are solved according to the equation (1) and the equation (3), and intersection points (Xbc1, Ybc1) and (Xbc2, Ybc2) of the circle B and the circle C are calculated according to the equation (2) and the equation (3). Then the intersection points (Xac1, Yac1) and (Xac2, Yac2) of the circle A and the circle C are substituted into X-X22+Y－Y22And finding out a point (Xac, Yac) which is close to the center of the circle B. Similarly, (Xab, Yab) and (Xbc, Ybc) can be found. According to the calculation, the approximate coordinates of the coordinates to be positioned can be obtained
Referring to fig. 4, fig. 4 is a schematic flow chart of an embodiment of a driving positioning method according to the present invention. In the present embodiment, the driving positioning method is applied to the driving positioning system 10, and the driving positioning system 10 includes a wireless transceiver 100 and a positioning unit 101. The wireless transceiver unit 100 is installed on a street lamp, and each street lamp is installed with one wireless transceiver unit 100. The positioning unit 101 is provided on the vehicle. The driving positioning method comprises the following steps:
step S31: the wireless transceiver unit 100 transmits a signal;
step S32: judging whether the current weather influences the transmitting power, if so, executing the step S33, and if not, jumping to the step S35;
specifically, the number of the wtrus 100 is at least two, and the transmitting power of each of the wtrus 100 installed in the street lamp may be different in different weather, which may cause positioning errors. In this embodiment, the step of determining whether the current weather has an influence on the transmission power specifically includes:
presetting a standard transmitting power value of each wireless transmitting and receiving unit for receiving adjacent wireless transmitting and receiving units;
when a wireless transceiver unit receives a signal transmitted by an adjacent wireless transceiver unit, calculating the difference value between the power of the signal and the standard transmission power value;
judging whether the power of the signal is within a preset range or not;
if the power of the signal is not within the preset range, the current weather influences the transmission power.
Step S33: compensating the transmission power attenuation value;
specifically, if the current weather affects the transmission power, the wireless transceiver unit 100 calculates a difference between the power of the signal and the standard transmission power value, and then uses the difference as a compensation value of the transmission power of the wireless transceiver unit.
Step S34: retransmitting the signal;
specifically, in practical applications, when two adjacent wireless transceiving units 100 on a street lamp are installed for the first time, the transmitting power of each other is set as a standard, the received power may change due to weather changes or environmental changes, and compensation is needed if the received power exceeds a preset range. For example, in a fine day during initial installation, the standard value of the transmission power received by the radio transceiver unit 100 is-10 dBm, and in a rainy day, the transmission power received by the radio transceiver unit 100 is-12 dBm, which requires 2dBm compensation for the radio transceiver unit 100.
Step S35: the positioning unit receives the signal;
step S36: determining a coordinate point of the vehicle from the signal.
Specifically, the positioning unit 101 takes time in the process of calculating and determining the coordinate point of the vehicle, and displacement errors are generated when the vehicle is running, resulting in positioning delay. That is, when the vehicle is not running, the positioning unit judges that the process of determining the coordinate point of the vehicle causes no delay. The positioning unit determines that a process of determining the coordinate point of the vehicle causes a delay while the vehicle is running. If a delay is caused, the positioning unit 101 calculates a compensation value of the vehicle position according to the speed of the vehicle and the time of the delay to determine a final coordinate point.
Compared with the prior art, the driving positioning system and the driving positioning method provided by the embodiment of the invention realize positioning by receiving the signal transmitted by the wireless receiving and transmitting unit arranged on the street lamp through the positioning unit arranged on the vehicle, and improve the positioning accuracy by retransmitting the signal after compensating the transmission power attenuation value when determining that the current weather has influence on the transmitted signal.
It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable modifications and variations of the above embodiments are within the scope of the present invention as claimed in the appended claims, as long as they fall within the true spirit of the present invention.
Claims (10)
1. A vehicle positioning system, comprising:
the wireless transceiving unit is arranged on the street lamp and used for transmitting signals, judging whether the current weather influences the transmitting power, and retransmitting the signals after compensating the transmitting power attenuation value when determining that the current weather influences the transmitting signals;
and the positioning unit is arranged on the vehicle and used for receiving the signal transmitted by the wireless transceiving unit and determining the coordinate point of the vehicle according to the signal.
2. A vehicle positioning system as claimed in claim 1, wherein:
the number of the wireless transceiver units is at least three, and each wireless transceiver unit is also used for presetting and receiving a standard transmitting power value of an adjacent wireless transceiver unit;
when a wireless transceiving unit receives a signal transmitted by an adjacent wireless transceiving unit, judging whether the power of the signal is within a preset range, and if the power of the signal is not within the preset range, determining that the current weather has influence on the transmission power.
3. The system as claimed in claim 2, wherein if the current weather affects the transmission power, the wireless transceiver unit calculates the difference between the power of the signal and the standard transmission power value, and retransmits the signal after taking the difference as the compensation value of the transmission power of the wireless transceiver unit.
4. The vehicle event locating system of claim 2, wherein the locating unit is further configured to:
determining whether a process of determining a coordinate point of the vehicle causes a delay;
if the delay is caused, calculating a compensation value of the vehicle position according to the speed of the vehicle and the delay time to determine a final coordinate point.
5. The driving positioning system according to claim 4, wherein the positioning unit determines that the process of determining the coordinate point of the vehicle causes no delay when the vehicle is not driving;
the positioning unit determines that a process of determining the coordinate point of the vehicle causes a delay while the vehicle is running.
6. A driving positioning method is characterized by being applied to a driving positioning system, wherein the driving positioning system comprises a wireless receiving and transmitting unit arranged on a street lamp and a positioning unit arranged on a vehicle, and the method comprises the following steps:
the wireless transceiving unit transmits a signal;
judging whether the current weather influences the transmitting power;
if the current weather influences the transmitting power, compensating the transmitting power attenuation value;
retransmitting the signal;
the positioning unit receives the signal;
determining a coordinate point of the vehicle from the signal.
7. The driving positioning method according to claim 6, wherein the number of the wireless transceiver units is at least two, and the step of determining whether the current weather has an influence on the transmission power specifically comprises:
presetting a standard transmitting power value of each wireless transmitting and receiving unit for receiving adjacent wireless transmitting and receiving units;
when a wireless transceiver unit receives a signal transmitted by an adjacent wireless transceiver unit, calculating the difference value between the power of the signal and the standard transmission power value;
judging whether the power of the signal is within a preset range or not;
if the power of the signal is not within the preset range, the current weather influences the transmission power.
8. The driving positioning method according to claim 6, wherein the step of compensating the transmission power attenuation value if the current weather has an influence on the transmission power specifically comprises:
calculating a difference between the power of the signal and the standard transmission power value;
and taking the difference value as a compensation value of the transmitting power of the wireless transceiving unit.
9. The vehicle traveling positioning method according to claim 6, further comprising:
judging whether the process of determining the coordinate point of the vehicle causes time delay or not;
and if the time delay is caused, calculating a compensation value of the vehicle position according to the speed of the vehicle and the time of the time delay so as to determine a final coordinate point.
10. The driving positioning method according to claim 9, wherein the determining whether the process of determining the coordinate point of the vehicle causes a delay step specifically comprises:
when the vehicle does not run, the positioning unit judges that the process of determining the coordinate point of the vehicle does not cause time delay;
when the vehicle runs, the positioning unit judges that a process of determining the coordinate point of the vehicle causes a delay.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114812563A (en) * | 2022-05-07 | 2022-07-29 | 法法汽车(中国)有限公司 | Positioning compensation method and device, electronic equipment and storage medium |
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