CN115113255B - Vehicle positioning and tracking device and method and vehicle - Google Patents
Vehicle positioning and tracking device and method and vehicle Download PDFInfo
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- CN115113255B CN115113255B CN202211047371.6A CN202211047371A CN115113255B CN 115113255 B CN115113255 B CN 115113255B CN 202211047371 A CN202211047371 A CN 202211047371A CN 115113255 B CN115113255 B CN 115113255B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- 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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The present invention relates to the field of positioning application technologies, and in particular, to a vehicle positioning and tracking device and method, and a vehicle. The vehicle positioning and tracking device comprises: MCU chip, 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver, the MCU chip with 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver are connected. The vehicle positioning and tracking device can be used for carrying out outdoor and indoor comprehensive positioning on the vehicle, so that the positioning precision is improved, and the position information and the working condition of the vehicle can be conveniently known in real time; thereby facilitating management and control of the vehicle.
Description
Technical Field
The present invention relates to the field of positioning application technologies, and in particular, to a vehicle positioning and tracking device and method, and a vehicle.
Background
With the rapid development of the internet of things and artificial intelligence, location Based Services (LBS) gradually permeate the aspects of human life, location positioning and tracking are more and more widely applied in many fields such as police vehicles, commercial vehicles, port vehicles, freight vehicles and the like, the location positioning and tracking system has higher requirements on the positioning precision, the updating frequency of positioning data and the coverage area, and certain applications need to send position track information of a period of time after an accident to a client management platform after the accident occurs in the vehicle, so that the failure reason can be analyzed and the rescue situation can be implemented conveniently.
In order to realize seamless high-precision positioning and tracking of vehicles, outdoor and indoor positioning non-blind area switching and seamless connection are required to be realized. The outdoor satellite navigation positioning precision has an error of 5-20 meters, and a driver often drives the vehicle to an unspecified place in the actual operation process; in the indoor environment, some areas are distributed with Bluetooth AOA base station positioning, and some areas are distributed with UWB base station positioning, so that the position information of the vehicle in some areas is lost; the management party cannot know the position information and the working condition of the vehicle in real time, which is not beneficial to the management and control of the vehicle.
Disclosure of Invention
In order to solve the above problems, a primary objective of the present invention is to provide a vehicle positioning and tracking device, which can perform outdoor and indoor comprehensive positioning on a vehicle, improve positioning accuracy, and facilitate real-time understanding of position information and working conditions of the vehicle.
In order to achieve the purpose, the invention adopts the technical scheme that:
a vehicle localization tracking device, comprising: MCU chip, 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver, the MCU chip with 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver are connected.
Further, the vehicle positioning and tracking device further comprises a power supply module, and the power supply module is used for supplying power to the vehicle positioning and tracking device.
Further, the power supply module comprises a first switch control circuit, a 12V to 5V circuit, a second switch control circuit, a 5V to 3.3V circuit and a 5V to 3.8V circuit, wherein the first switch control circuit is connected with the second switch control circuit through the 12V to 5V circuit;
the second switch control circuit is connected with the 5V-to-3.3V circuit and the 5V-to-3.8V circuit, and the input end of the first switch control circuit is connected with a 12V power supply.
Further, the power supply module further comprises a charging circuit and an energy storage circuit, and the 12V-to-5V circuit is connected with the energy storage circuit through the charging circuit;
an alternative circuit is connected between the 12V-to-5V circuit and the second switch control circuit, and the alternative circuit is connected with the energy storage circuit.
Furthermore, the power supply module further comprises a power supply detection circuit, the 12V-to-5V circuit is connected with the MCU chip through the power supply detection circuit, and the MCU chip is connected with the second switch control circuit.
Furthermore, the power supply module further comprises an anti-static anti-surge circuit, and the first switch control circuit is connected with the 12V power supply through the anti-static anti-surge circuit.
Further, the power supply module further comprises an anti-reverse connection circuit, and the first switch control circuit is connected with the anti-static anti-surge circuit through the anti-reverse connection circuit.
Further, the model of the MCU chip is STM32F427VI.
The present invention also provides a vehicle positioning and tracking method, which is applied to the vehicle positioning and tracking device, and the vehicle positioning and tracking method comprises the following steps:
when the vehicle position tracking device is in an outdoor environment,
the GNSS position information is received through the GNSS receiver module, the GNSS position information is sent to a CORS system through the 4G module, the CORS system calculates a position correction number according to the GNSS position information and then sends the position correction number to the MCU chip through the 4G module, the MCU chip is processed and then sends the position correction number to the GNSS receiver module to perform RTK calculation to obtain position information, and then the position information and IMU data acquired by the IMU module are sent to a client management platform through the MCU chip to realize the positioning tracking of the vehicle positioning tracking device;
when the vehicle position tracking device is in an indoor environment,
if the information of the UWB base station is sensed, the position information of the UWB tag is sent to the UWB base station for UWB positioning algorithm processing, and further the position information counted by the UWB base station and the position information of the IMU collected by the vehicle positioning and tracking device are sent to a client management platform for information fusion calculation, so that the positioning and tracking of the vehicle positioning and tracking device are realized;
if the information of the BLE Bluetooth base station is sensed, the position information of the BLE Bluetooth label is sent to the BLE Bluetooth base station to be processed by a BLE Bluetooth room algorithm, and then the position information output by the BLE Bluetooth base station and the position information of the IMU collected by the vehicle positioning tracker device are sent to the client management platform to be subjected to information fusion and calculation, so that the positioning tracking of the vehicle positioning tracker device is realized.
The invention also provides a vehicle comprising a vehicle position tracking device as described above.
Further, the vehicles include police vehicles, commercial vehicles, port vehicles, and freight vehicles.
The invention has the beneficial effects that:
the vehicle positioning and tracking device comprises: MCU chip, 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver, the MCU chip with 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver are connected. The vehicle positioning and tracking device can be used for comprehensively positioning the vehicle outdoors and indoors, so that the positioning precision is improved, and the position information and the working condition of the vehicle can be conveniently known in real time; thereby facilitating management and control of the vehicle.
Drawings
Fig. 1 is a schematic circuit diagram of the vehicle positioning and tracking device according to the present invention.
Fig. 2 is a circuit schematic diagram of the power supply module of the present invention.
Detailed Description
Referring to fig. 1-2, the present invention relates to a vehicle positioning and tracking device, comprising: MCU chip, 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver, the MCU chip with 4G module, GNSS receiver module, UWB module, bluetooth module, IMU module and RS232 transceiver are connected. Further, the model of the MCU chip is STM32F427VI.
Further, the vehicle positioning and tracking device further comprises a power supply module, and the power supply module is used for supplying power to the vehicle positioning and tracking device. The vehicle positioning and tracking device can be used for carrying out outdoor and indoor comprehensive positioning on the vehicle, so that the positioning precision is improved, and the position information and the working condition of the vehicle can be conveniently known in real time; thereby facilitating management and control of the vehicle.
In the above scheme, the MCU chip is a control center of the vehicle positioning and tracking device; the IMU module is used for acquiring information such as acceleration and attitude of the mobile carrier; the Bluetooth module is used for sending and receiving information of a Bluetooth base station indoors; the UWB module is used for sending and receiving information of a UWB base station indoors; the GNSS receiver module has a function of supporting RTK resolving, and when the GNSS receiver module is outdoors, the GNSS receiver module acquires the position information of the mobile carrier, performs RTK resolving with the position correction number sent by the CORS system, and outputs high-precision positioning information; the 4G module is used for receiving and sending data to the CORS system, and meanwhile, the 4G module is used for sending RTK and IMU data to the client management platform. The RS232 module is used for downloading and updating application programs and is also used for outputting the positioning information of the vehicle positioning and tracking device.
It should be noted that a CORS system (chinese: continuous operation Reference station in the english of CORS) is composed of five parts, namely a Reference station network, a data processing center, a data transmission system, a positioning navigation data broadcasting system and a user application system, and each Reference station and a monitoring analysis center are connected into a whole through the data transmission system to form a special network.
The MCU chip specifically comprises the following functions:
1) The method comprises the steps that position information of GNSS is received, the GNSS position information is sent to a CORS system through a 4G module, the CORS system calculates position correction numbers according to information from a tracking device and then sends the position correction numbers to the tracking device through the 4G module, the tracking device sends the position correction numbers received through the 4G module to an MCU chip through a USB interface, the MCU chip is processed and then sent to a GNSS receiver module for RTK calculation, the calculated position information and collected IMU data are sent to the MCU chip for combined calculation and positioning, high-precision positioning information is output, and the MCU chip sends the high-precision positioning information to a client management platform to achieve vehicle positioning and tracking;
2) In an indoor environment, if the information of the UWB base station is sensed, the position information of the UWB module is sent to the UWB base station, the UWB base station or a background algorithm engine carries out UWB positioning algorithm processing, the calculated position information and IMU data information collected by a tracking device are sent to a client management platform, the client management platform carries out fusion positioning algorithm, and high-precision position information is output to realize tracking of a moving target;
3) In an indoor environment, if sensing information of a BLE Bluetooth base station, the vehicle positioning and tracking device transmits a direction finding signal by using a Bluetooth antenna, the BLE Bluetooth base station senses a radio direction finding signal transmitted by the vehicle positioning and tracking device by using a built-in antenna array, the BLE Bluetooth base station or a background algorithm engine performs BLE Bluetooth room position algorithm processing, and the calculated position information and the position information of the IMU acquired by the tracking device are transmitted to a client management platform to realize the tracking of a moving target;
4) Coordinating operation and parameter configuration of the perimeter sensor device.
It should be noted that the GNSS receiver module of the present invention can adopt a BD982 receiver, which has a fast update speed, supports RTK solution, and is fused with IMU data at the same time, and can keep outputting high-precision position information under the condition that the GNSS satellite is lost; the outdoor positioning precision can reach sub-meter level, and the indoor positioning precision can reach within 0.5 meter.
In this embodiment, the power supply module includes a first switch control circuit, a 12V to 5V circuit, a second switch control circuit, a 5V to 3.3V circuit, and a 5V to 3.8V circuit, where the first switch control circuit is connected to the second switch control circuit through the 12V to 5V circuit; the second switch control circuit is connected with the 5V-to-3.3V circuit and the 5V-to-3.8V circuit, and the input end of the first switch control circuit is connected with a 12V power supply. Furthermore, the power supply module further comprises a charging circuit and an energy storage circuit, and the 12V-to-5V circuit is connected with the energy storage circuit through the charging circuit; an alternative circuit is connected between the 12V-to-5V circuit and the second switch control circuit, and the alternative circuit is connected with the energy storage circuit. Furthermore, the power supply module further comprises a power supply detection circuit, the 12V-to-5V circuit is connected with the MCU chip through the power supply detection circuit, and the MCU chip is connected with the second switch control circuit. Furthermore, the power supply module further comprises an anti-static anti-surge circuit, and the first switch control circuit is connected with the 12V power supply through the anti-static anti-surge circuit. Furthermore, the power supply module further comprises an anti-reverse connection circuit, and the first switch control circuit is connected with the anti-static anti-surge circuit through the anti-reverse connection circuit. The working principle of the power supply module is as follows:
under the normal condition of a vehicle, a vehicle ignition power supply supplies power for 12V, 5VA voltage is output through an anti-static anti-surge circuit, an anti-reverse connection circuit and a first switch control circuit (used for switching on and off), and meanwhile, the 12V-to-5V circuit is divided into one path to charge the energy storage circuit and output 5VB voltage; and the 5VA voltage and the 5VB voltage are output by selecting the 5VA voltage through the alternative circuit, and finally the whole vehicle positioning and tracking device is supplied with power through the second switch control circuit. Meanwhile, the MCU chip detects the 5VA voltage through the power supply detection circuit, when the vehicle has a fault, namely normal power supply cannot be carried out, the power supply detection circuit outputs fault information to the MCU chip, and at the moment, the alternative circuit is automatically switched to the 5VB voltage output to supply power to the whole vehicle positioning and tracking device; after the MCU chip receives the power failure information, the MCU chip continues to work for a period of time by taking the received power failure information as a starting point, namely, the position track information of a period of time after an accident is sent to the client management platform, and finally, the power supply is cut off through the second switch control circuit.
The invention also provides a vehicle comprising a vehicle position tracking device as described above. The vehicles include police vehicles, commercial vehicles, port vehicles, and freight vehicles. The vehicle positioning and tracking process adopting the vehicle positioning and tracking device comprises the following steps:
when the vehicle is outdoors, the GGA positioning information acquired by the GNSS receiver module and the acquired differential correction are processed into an RTK algorithm, high-precision GGA information is output to perform data fusion with the position information acquired by the IMU, positioning information with high updating speed and high precision is acquired, and the positioning information is uploaded to the client management platform through the 4G module, so that the positioning purpose or the tracking target is realized. When the vehicle is indoor, when the vehicle enters a Bluetooth or UWB positioning area, the Bluetooth or UWB is used as a label to send positioning information, the positioning server carries out position calculation, and simultaneously, the positioning server combines IMU information to carry out fusion, so that the indoor positioning purpose or the indoor tracking target is realized.
The present invention also provides a vehicle localization and tracking method, which is applied to the vehicle localization and tracking device as described above, and the vehicle localization and tracking method includes the following steps:
when the vehicle position tracking device is in an outdoor environment,
the GNSS position information is received through the GNSS receiver module, the GNSS position information is sent to the CORS system through the 4G module, the CORS system calculates position correction data according to the GNSS position information and then sends the position correction data to the MCU chip through the 4G module, the MCU chip is processed and then sent to the GNSS receiver module to perform RTK resolving to obtain position information, then the position information and IMU data acquired by the IMU module are subjected to a fusion positioning algorithm through the MCU chip, and the resolved high-precision position information is sent to the client management platform to realize positioning tracking of the vehicle positioning tracking device;
when the vehicle position tracking device is in an indoor environment,
if the information of the UWB base station is sensed, the position information of the UWB label is sent to the UWB base station to be processed by a UWB positioning algorithm, the position information counted by the UWB base station and the position information of the IMU collected by the tracking device are sent to a client management platform and subjected to information fusion calculation, so that the positioning tracking of the vehicle positioning tracking device is realized;
if the information of the BLE Bluetooth base station is sensed, the position information of the BLE Bluetooth label is sent to the BLE Bluetooth base station to be processed by a BLE Bluetooth room algorithm, and then the position information output by the BLE Bluetooth base station and the position information of the tracking device, which is acquired by the IMU, are sent to a client management platform to be subjected to information fusion and calculation, so that the vehicle positioning and tracking device can be positioned and tracked.
The above embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the design of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. A vehicle localization tracking device, comprising: the device comprises an MCU chip, a 4G module, a GNSS receiver module, a UWB module, a Bluetooth module, an IMU module and an RS232 transceiver, wherein the MCU chip is connected with the 4G module, the GNSS receiver module, the UWB module, the Bluetooth module, the IMU module and the RS232 transceiver; the vehicle positioning and tracking device further comprises a power supply module, wherein the power supply module is used for supplying power to the vehicle positioning and tracking device, the power supply module comprises a first switch control circuit, a 12V-to-5V circuit, a second switch control circuit, a 5V-to-3.3V circuit and a 5V-to-3.8V circuit, the first switch control circuit is connected with the second switch control circuit through the 12V-to-5V circuit, the second switch control circuit is connected with the 5V-to-3.3V circuit and the 5V-to-3.8V circuit, and the input end of the first switch control circuit is connected with a 12V power supply;
the power supply module further comprises a charging circuit and an energy storage circuit, and the 12V-to-5V circuit is connected with the energy storage circuit through the charging circuit; an alternative circuit is connected between the 12V-to-5V circuit and the second switch control circuit, and the alternative circuit is connected with the energy storage circuit;
the power supply module further comprises a power supply detection circuit, the 12V-to-5V circuit is connected with the MCU chip through the power supply detection circuit, and the MCU chip is connected with the second switch control circuit;
the power supply module further comprises an anti-static anti-surge circuit, and the first switch control circuit is connected with the 12V power supply through the anti-static anti-surge circuit;
the power supply module further comprises an anti-reverse connection circuit, and the first switch control circuit is connected with the anti-static anti-surge circuit through the anti-reverse connection circuit;
under the normal condition of a vehicle, a vehicle ignition power supply supplies power for 12V, 5VA voltage is output through an anti-static anti-surge circuit, an anti-reverse connection circuit and a first switch control circuit and then through a 12V to 5V circuit, and meanwhile, one path is divided by the 12V to 5V circuit to charge the energy storage circuit and output 5VB voltage; the 5VA voltage and the 5VB voltage are output by selecting the 5VA voltage through the alternative circuit, and finally the whole vehicle positioning and tracking device is supplied with power through the second switch control circuit; meanwhile, the MCU chip detects the 5VA voltage through the power supply detection circuit, when the vehicle has a fault, the power supply detection circuit outputs fault information to the MCU chip, and at the moment, the alternative circuit is automatically switched to the 5VB voltage output to supply power to the whole vehicle positioning and tracking device; after the MCU chip receives the power failure information, the MCU chip continues working for a period of time by taking the received power failure information as a starting point, namely, the MCU chip sends position track information of a period of time after an accident to the client management platform, and finally, the power supply is cut off through the second switch control circuit.
2. A vehicle localization and tracking device according to claim 1, wherein: the model of the MCU chip is STM32F427VI.
3. A vehicle positioning and tracking method is characterized in that: the vehicle localization tracking method is applied to a vehicle localization tracking device according to any one of claims 1-2, and comprises the following steps:
when the vehicle position tracking device is in an outdoor environment,
the GNSS position information is received through the GNSS receiver module, the GNSS position information is sent to a CORS system through the 4G module, the CORS system calculates a position correction number according to the GNSS position information and then sends the position correction number to the MCU chip through the 4G module, the MCU chip is processed and then sends the position correction number to the GNSS receiver module to perform RTK calculation to obtain position information, and then the position information and IMU data acquired by the IMU module are sent to a client management platform through the MCU chip to realize the positioning tracking of the vehicle positioning tracking device;
when the vehicle position tracking device is in an indoor environment,
if the information of the UWB base station is sensed, the position information of the UWB tag is sent to the UWB base station for UWB positioning algorithm processing, and further the position information counted by the UWB base station and the position information of the IMU collected by the vehicle positioning and tracking device are sent to a client management platform for information fusion calculation, so that the positioning and tracking of the vehicle positioning and tracking device are realized;
if the information of the BLE Bluetooth base station is sensed, the position information of the BLE Bluetooth label is sent to the BLE Bluetooth base station to be processed through a BLE Bluetooth positioning algorithm, and then the position information output by the BLE Bluetooth base station and the position information of the IMU collected by the vehicle positioning tracker device are sent to a client management platform to be subjected to information fusion and calculation, so that the positioning tracking of the vehicle positioning tracker device is realized.
4. A vehicle, characterized in that: the vehicle comprising a vehicle position tracking device as claimed in any one of claims 1-2.
5. A vehicle according to claim 4, characterized in that: the vehicles include police vehicles, commercial vehicles, port vehicles, and freight vehicles.
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| US20170023659A1 (en) * | 2015-05-08 | 2017-01-26 | 5D Robotics, Inc. | Adaptive positioning system |
| CN205301593U (en) * | 2015-09-06 | 2016-06-08 | 浙江科技学院 | In remote location search apparatus |
| CN105425264A (en) * | 2015-10-16 | 2016-03-23 | 深圳市盛思达通讯技术有限公司 | Vehicle tracking positioning method and system, positioning terminal, and monitoring terminal |
| CN107094319B (en) * | 2016-02-17 | 2021-06-04 | 王庆文 | High-precision indoor and outdoor fusion positioning system and method |
| EP3232221A1 (en) * | 2016-04-12 | 2017-10-18 | MAGNA STEYR Fahrzeugtechnik AG & Co KG | Position determination system |
| CN106379276A (en) * | 2016-09-30 | 2017-02-08 | 桂林理工大学 | Vehicle tracking and positioning system |
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| CN111190138A (en) * | 2020-02-12 | 2020-05-22 | 南京邮电大学 | Tool car indoor and outdoor combined positioning method and device based on Internet of things |
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