CN115942252A - Automobile positioning and tracking system and method based on Internet of vehicles - Google Patents

Abstract

The invention discloses an automobile positioning and tracking system and method based on the Internet of vehicles, which comprises a main controller and a GPS module which are arranged in an automobile body; the GSM module is connected with the service station through a base station, the laser scanning radar is in signal connection with the main controller, scanning data are transmitted to the service station through the GSM module, and the flame sensor and the vibration sensor are in signal connection with the main controller through the AD converter; the GPS module outputs coordinate signals to the main controller at intervals of N seconds, the main controller stores the coordinate signals after receiving the coordinate signals and outputs coordinate data to the base station through the GSM module, the laser scanning radar sends scanning data to the main controller, and the main controller sends the coordinate data and the scanning data to the service station through the GSM module. The GPS and alarm system is installed on the existing vehicle, overall operation efficiency is low, and the GPS and service satellite are easily connected, so that accidents can occur and the problem that the accidents are not easy to detect is solved.

Description

Automobile positioning and tracking system and method based on Internet of vehicles

Technical Field

The invention relates to a vehicle networking service, in particular to a vehicle positioning and tracking system and method based on the vehicle networking.

Background

With the development of economy and the arrival of the automotive era, vehicles bring convenience for people to go out, and meanwhile, a series of problems are generated, such as traffic jam, energy consumption, vehicle management and the like; the current vehicles are more in quantity and the road traffic pressure is higher, but the vehicle networking is developed, mainly in order to effectively utilize all vehicle dynamic information in an information network platform through vehicle-mounted equipment through a wireless communication technology, so that a supplier can provide corresponding functional services on a remote server aiming at the relevant information of the vehicle operation.

Generally, a remote server can interact with a vehicle-mounted device to obtain vehicle-related information, but to conveniently, quickly and accurately know the driving position information of a vehicle on an intricate urban road, the vehicle needs to be tracked and positioned correspondingly to determine the position of the vehicle, so as to facilitate travel service or rescue service.

The current vehicle is more utilize GPS direct butt joint remote server, thereby carry out data feedback through remote server real-time and GPS, thereby obtain vehicle current position information, but this kind of information is at a great extent, be subject to GPS and service satellite's being connected, secondly, the vehicle is at the form in-process, the accident may appear, and GPS can only carry out the coordinate and acquire, thereby lead to vehicle tracking location and security protection system can only be relatively independent, install GPS and alarm system respectively promptly, the whole application efficiency is lower, and the access of many kinds of information, also do not benefit to remote server statistical data. It is therefore desirable to improve the existing vehicle positioning systems and to provide new ways of position tracking.

Disclosure of Invention

The invention aims to provide an automobile positioning and tracking system and method based on the Internet of vehicles, aiming at improving the problems that the existing automobile is provided with a GPS and an alarm system, the overall application efficiency is low, and the system is easily limited to the connection between the GPS and a service satellite, so that accidents are possibly caused and are not easy to detect.

In order to solve the technical problems, the invention adopts the following technical scheme:

a car positioning and tracking system based on car networking comprises a main controller and a GPS module which are arranged in a car body, wherein the main controller is in signal connection with a GSM module, and the GPS module is used for receiving satellite signals and outputting coordinate signals to the main controller in a time-sharing manner; the main controller is used for receiving the coordinate signal and outputting coordinate data to the GSM module; the GSM module is connected with the service station through the base station, so that the master controller and the service station carry out information interaction.

The vehicle body also comprises a laser scanning radar, a flame sensor and a vibration sensor. The laser scanning radar is arranged on the top of the vehicle body, is in signal connection with the main controller, and is started by the main controller; scanning data are obtained by scanning the vehicle body through the laser scanning radar, the scanning data are output to the main controller, and the scanning data are transmitted to the service station through the GSM module.

The flame sensor and the vibration sensor are in signal connection with the main controller through the AD converter; the vibration sensor is used for collecting vibration data of the vehicle body, the flame sensor is used for detecting fire data in the vehicle, the AD converter converts analog signals of the flame sensor and the vibration sensor into digital signals and transmits the digital signals to the main controller, and the main controller sends the digital signals to the service station.

Preferably, the flame sensor is fixed on an electric wire harness in an engine room of the automobile body through a binding belt, and the flame sensor is used for detecting flame through an infrared receiving tube and converting the flame brightness into a level signal with high and low changes to be output to the main controller.

Preferably, the GSM module adopts an SIM800C module, the supply voltage of the GSM module is 3.3V, the GSM module is connected to a power supply through a voltage stabilizer, and the voltage range of the VBAT pin of the GSM module is 3.2V to 4.8V.

Preferably, the GPS module is a VK2828U7G5LF module, and the GPS module is configured to receive a satellite signal and send a coordinate signal containing latitude and longitude information to the master controller through a serial port.

Preferably, the master controller is an STM32 series system controller, and is of a specific model number STM32F103C8T6, and the voltage of the master controller is 3.3V.

Preferably, a display module is arranged in the vehicle body and is in signal connection with a main controller, and the main controller is used for displaying coordinate data, positioning data and real-time on the display module.

The invention also discloses a positioning and tracking method, which uses the automobile positioning and tracking system based on the Internet of vehicles, the GPS module outputs a coordinate signal to the master controller once every N seconds, the GSM module is connected with the base station in real time and records the identification code of the base station, the master controller receives the coordinate signal and then stores the coordinate signal, coordinate data is output to the base station through the GSM module, the base station transmits the coordinate data to the service station, and the coordinate data at least comprises the coordinate information of the latest frequency GPS module and the identification code of the latest frequency GSM module connected with the base station; the laser scanning radar sends scanning data to the main controller, and the main controller sends coordinate data and the scanning data to the service station through the GSM module.

The technical scheme is that the vibration sensor or the flame sensor outputs signals to the main controller, and when the parameter value of the digital signals received by the main controller reaches a threshold value, the main controller drives the laser scanning radar to start.

The further technical scheme is that the GPS module does not receive a coordinate signal, the GPS module outputs an origin signal to the main controller after N seconds, the main controller outputs a control signal to the GSM module after receiving the origin signal, the main controller is synchronously connected with nearby base stations to the GSM module and records identification codes of the nearby base stations, the main controller packs the identification codes recorded on the nearby base stations for the last time and sends the identification codes to the server when receiving the origin signal for two times continuously until the GPS module searches for a satellite signal and sends the coordinate signal to the main controller, and the main controller controls the GSM module to resend coordinate data

Compared with the prior art, the invention has the beneficial effects of at least one of the following:

the invention arranges the vibration sensor and the flame sensor in the vehicle body, the sensors can be used for automobile anti-theft and in-vehicle fire detection, and in the driving process, accidents can be correspondingly recorded, thereby facilitating corresponding rescue of service providers according to the vehicle state. The AD converter mainly converts analog voltage signals after information collected by the vibration sensor and the flame sensor into digital signals, and meanwhile, the main controller analyzes and processes corresponding data through transmission of the digital signals. When the vibration sensor and the flame sensor are triggered, the information of objects in the vehicle can be collected through the laser scanning radar. The GPS module is used for positioning, and the GSM module is used for network interaction, so that the server can obtain the corresponding position of the vehicle in real time.

The positioning method can effectively utilize the GPS module to collect the current position information of the vehicle body, realize the determination of the position information of the vehicle, utilize the GSM communication module to realize information interaction, and utilize the base station to carry out auxiliary positioning, namely, an approximate position can be obtained by firstly adopting a positioning base station mode, and when the GPS signal can be received, the positioning mode is switched, thereby avoiding the loss of the position information of the vehicle.

Drawings

FIG. 1 is a schematic diagram of the distribution of the present invention.

FIG. 2 is a circuit diagram of the present invention.

Fig. 3 is a schematic view of the installation of the display module according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

Referring to fig. 1, an embodiment of the present invention is an automobile positioning and tracking system based on internet of vehicles, including a main controller 1 and a GPS module 2 disposed inside a vehicle body, where the main controller 1 is in signal connection with a GSM module 3, and the GPS module 2 is configured to receive satellite signals and output coordinate signals to the main controller 1 in a time-sharing manner; the main controller 1 is used for receiving the coordinate signal and outputting coordinate data to the GSM module 3; the GSM module 3 is connected with the service station 4 through a base station, so that the main controller 1 and the service station 4 perform information interaction, and the vehicle body further comprises a laser scanning radar 5, a flame sensor 6 and a vibration sensor 7.

Wherein, the design of the sensing layer at least comprises a laser scanning radar 5, a flame sensor 6 and a vibration sensor 7. On one hand, the vibration sensor 7 and the flame sensor 6 can be used for automobile anti-theft and in-automobile fire detection, information is collected and then converted into analog voltage signals, and the analog signals are converted into digital signals through the AD converter and then transmitted to the main controller 1 to be subjected to basic analysis and real adaptability processing.

The laser scanning radar 5 is arranged on the top of the vehicle body, the laser scanning radar 5 is in signal connection with the main controller 1, and the main controller 1 starts the laser scanning radar 5; scanning data are obtained by scanning the vehicle body through the laser scanning radar 5, the scanning data are output to the main controller 1, and the scanning data are transmitted to the service station 4 through the GSM module 3.

The service station 4 is a server set of an existing server provider and is also a mechanism or organization for providing navigation and vehicle monitoring services, and existing geographic information system software is arranged on the service station 4, so that the content of a data packet transmitted by the GSM module 3 can be analyzed, and the data packet is verified, stored and managed, inquired and analyzed in space, displayed and output with the data packet in the existing geographic information system software, so that the relative position information of the current vehicle is obtained, the positioning and tracking of the vehicle are conveniently realized, and the higher-quality service is provided.

The flame sensor 6 and the vibration sensor 7 are in signal connection with the main controller 1 through an AD converter 8; the vibration sensor 7 is used for collecting vibration data of the vehicle body, the flame sensor 6 is used for detecting fire data in the vehicle, the AD converter 8 converts analog signals of the flame sensor 6 and the vibration sensor 7 into digital signals and transmits the digital signals to the main controller 1, and the main controller 1 transmits the digital signals to the service station 4.

The GPS module 2 is an existing module, the GPS module 2 is mainly used for receiving satellite signals and collecting the current position information of a vehicle body, and the GPS module 2 determines the longitude and latitude information of a receiver of the current GPS module 2 by using the signal time difference of a plurality of satellites in the sky, so that the tracking and positioning functions of the vehicle can be realized in daily use through the GPS module 2.

The GSM module 3 is also an existing functional module, and the GSM module 3 is operated by AT instructions and can realize communication by a serial port. The main controller 1 encodes the information, packs the data, and sends the data to the GSM module by short message, and then the GSM module transfers the received information to the appointed server by the accessed base station.

When necessary, can also set up current perception units such as temperature and humidity sensor in the car, carry out the system through perception unit and master controller 1 and link to each other to gather temperature and humidity information in the car, wherein laser scanning radar 5 can be real-time work, also can carry out the formula work that triggers through master controller 1, can confirm the peripheral condition of vehicle to a certain extent through laser scanning radar 5.

Based on the above embodiment, one embodiment of the present invention is that the flame sensor 6 is fixed on the electric wire harness in the engine compartment of the vehicle body by a tie, and the flame sensor 6 is used for detecting the flame by an infrared receiving tube and converting the flame brightness into a level signal with high and low changes to be output to the main controller 1.

Wherein, flame sensor 6 is current commodity, and flame sensor 6 is mainly used to gather the fire source signal to produce and trigger, wherein flame sensor realizes the monitoring of flame through the luminance that is used for detecting light. In general, the flame sensor 6 needs to be located in a fire prone area, as well as in an area with relatively weak light. The flame sensor 6 is therefore generally placed in the engine compartment and its fixing needs to be relatively easy, so that subsequent replacement or maintenance of the equipment is relatively easy.

If necessary, the existing trigger type fire extinguishing equipment can be arranged in the flame sensor 6 and the vehicle body, and when the threshold value acquired by the flame sensor 6 is higher than the set value, the trigger type fire extinguishing equipment is started.

Based on the above embodiment, an embodiment of the present invention is that the GSM module 3 employs an SIM800C module, the power supply voltage of the GSM module 3 is 3.3V, the GSM module 3 is connected to a power supply through a voltage regulator, and the voltage range of the VBAT pin of the GSM module 3 is 3.2V-4.8V.

When the GSM module 3 is started, the instantaneous current is large, the general current is in the range of 2A, and the voltage fluctuation may be caused in the process of increasing the instantaneous current, so that the used power supply at least meets the stable power supply of more than 2A, and the voltage range of the power supply is 3.2-4.8V to adapt to the power consumption standard of the existing internet-of-things equipment.

After the GSM module 3 receives the data sent by the master controller 1, the GSM module 3 can transmit the data through the GPRS network with a wider coverage area, so that a server of the monitoring center can receive the data sent by the GSM module 3, position determination is performed under the monitoring center, and the data are displayed on a corresponding electronic map through parameter information.

Based on the foregoing embodiment, referring to fig. 2, an embodiment of the present invention is that the GPS module 2 is a VK2828U7G5LF module, and the GPS module 2 is configured to receive a satellite signal and send a coordinate signal containing latitude and longitude information to the master controller 1 through a serial port.

The GPS module 2 adopts a VK2828U7G5LF module, the horizontal position precision is less than 2.5 meters, the signal intensity is-130 dBm, the signal supports 6 satellites, the time service precision is 30ns, and the GPS module 2 is applied to an automobile and can meet the requirements of corresponding coordinate time efficiency and precision. At the same time, the VK2828U7G5LF module and the antenna can be embedded on a relatively small-sized carrier. The VK2828U7G5LF module can also be accessed to Arduino and Raspberry Pi to retrieve geographic coordinates latitude and longitude, altitude, speed, heading, and GMT time, if necessary. In use, the VK2828U7G5LF module is simply plugged into and connected to the serial adapter, and a serial monitor is turned on, which will receive the coordinates sent by the VK2828U7G5LF module.

Based on the above embodiment, referring to fig. 2, in an embodiment of the present invention, the master 1 is an STM32 series system controller, and a specific model is STM32F103C8T6, and the voltage of the master 1 is 3.3V.

The STM32 series system controller has high processing efficiency, and the normal working frequency of the STM32F103C8T6 is 72MHz, so that the STM32 series system controller has high cost performance on the premise of ensuring high processing speed. The GPS module 1 is connected with the master controller 1 by connecting a USART serial communication port of the STM32F103C8T6 with the GPS module 2, and then a corresponding library is downloaded from the GitHub. Program code is then established to set master 1 to ensure that GPS module 2 is in the open area to receive signals quickly.

Based on the above embodiments, referring to fig. 2 and fig. 3, an embodiment of the present invention is that a display module is disposed inside a vehicle body, the display module is in signal connection with a main controller 1, and the main controller 1 is configured to display coordinate data, positioning data, and real-time on the display module.

The signal receiving end of the GPS module 2 receives microwave information through an antenna, converts the microwave information into signals, processes the signals through the main controller 1, and realizes capture and tracking of main carriers and monitoring and demodulation of sub-carriers. The master controller 1 divides the obtained data information and sends the divided data information to a control interface for display.

It should be noted that the power supply voltage used by the display module mainly meets the vehicle-mounted voltage requirement, generally adopts 5V or 3.3V, and the circuit supplies power to the existing power regulator, and the power regulator regulates the voltage through the vehicle power supply connected from the DC socket and the power regulator, and finally outputs 5V or 3.2V regulated voltage. When the GPS module starts to receive signals, the display module starts to flash, and position coordinates are displayed on the display module.

A positioning tracking method uses an automobile positioning and tracking system based on the Internet of vehicles, a GPS module 2 outputs a coordinate signal to a main controller 1 at intervals of N seconds, in general, adaptability adjustment can be carried out according to the load capacity of a server, if the data load capacity is high, the parameter of N can be reduced, otherwise, the load capacity of the server is reduced by increasing the parameter of N.

The GSM module 3 is connected with the base station in real time and records the identification code of the base station, the main controller 1 receives the coordinate signal and then stores the coordinate signal, the GSM module 3 outputs coordinate data to the base station, and the base station transmits the coordinate data to the service station 4.

The GSM module 3 adopts dynamic channel allocation, the GSM module 3 will send a channel request to the device, and it is noted that if the GSM module 3 is set to be connected in real time, it will take a long time to occupy a signal. Because the vehicle is mobile and relates to the switching of a plurality of base stations, because the current base stations adopt a dynamic channel allocation strategy, the base station served by the GSM module 3 requests a channel from the MSC, and the exchanger of the base station allocates a channel, thereby avoiding the same frequency interference. On the one hand, dynamic channel allocation strategies can reduce the possibility of congestion, and on the other hand, vehicles are generally limited in connection time to a single base station, thus supporting real-time connection requirements.

It should also be noted that when a base station allocates a free channel, the priority of many switched channels is usually greater than the call initiation request. The GSM module 3 sets a stronger signal strength than the minimum available signal as a threshold signal for handover by designating a most appropriate signal strength to initiate handover, once a particular signal strength is designated as-90 dBm, which is the minimum available signal acceptable in a general base station receiver; the difference in signal strength between the minimum available signal and the threshold signal is such that the detected signal level does not decay instantaneously, but rather, during the handoff, the departing base station still has a certain signal monitoring period after accessing the new base station.

The coordinate data at least comprises coordinate information of a latest frequency GPS module 2 and an identification code of a latest frequency GSM module 3 connected with a base station; the laser scanning radar 5 sends scanning data to the master controller 1, and the master controller 1 sends coordinate data and scanning data to the service station 4 through the GSM module 3.

The identification code of the base station at least comprises LAC and CellID information, wherein the GSM module 3 acquires the identification code of the base station through signals in the interaction process, and then calls the LAC and CellID information of the third-party public base station in the identification code information to search the longitude and latitude value of the base station, so that the current area address information of the GSM module 3 is confirmed according to the longitude and latitude value of the base station.

When the GPS module 2 cannot receive the signal, at least the GSM module 3 is in a connection state with the base station, and the GSM module 3 can also determine the corresponding position according to the position information of the base station until the GPS module 2 acquires the position information, based on the position information of the GPS module 2.

Further, the vibration sensor 7 or the flame sensor 6 outputs a signal to the main controller 1, and when a parameter value of the digital signal received by the main controller 1 reaches a threshold value, the main controller 1 drives the laser scanning radar 5 to start. The vibration sensor 7 or the flame sensor 6 outputs signals to the main controller 1, the main controller 1 determines whether an accident occurs according to a threshold value, if the accident occurs, surrounding information needs to be acquired through the laser scanning radar 5, and therefore a monitoring service mechanism or organization can analyze the state of the vehicle according to the data of the laser scanning radar 5.

Wherein laser scanning radar 5 can be current scanning radar, gathers external form information through laser scanning radar 5 to when can confirming the vehicle state to a certain extent, for example whether the car overturns, whether the vehicle lateral wall pastes the wall etc..

Further, in order to better enable the GSM module 3 to obtain the position information of the base station, the GPS module 2 does not receive the coordinate signal, the GPS module 2 outputs an origin signal to the master controller 1 after N seconds, at this time, the master controller 1 outputs a control signal to the GSM module 3 after receiving the origin signal, at this time, the GSM module 3 is synchronously connected with nearby base stations and records the identification codes of the nearby base stations, when the master controller 1 receives the origin signal twice continuously, the master controller packs the identification codes recorded on the nearby base stations last time and sends the identification codes to the server, until the GPS module 2 searches for the satellite signal and sends the coordinate signal to the master controller 1, at this time, the master controller 1 controls the GSM module 3 to resend the coordinate data.

That is, after the GPS module 2 loses the signal, the GPS module 2 uses the origin signal as the trigger master controller 1, so that the GSM module 3 requests a plurality of channels, and thus the GSM module 3 connects a plurality of base stations as much as possible, and through the data of the plurality of base stations, a mechanism or an organization which is convenient for monitoring service acquires a lot of information data from a server, so that the accuracy of base station positioning can be improved when rescue is performed.

Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," "a preferred embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described in general terms in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims (9)

1. A car positioning and tracking system based on car networking comprises a main controller (1) and a GPS module (2) which are arranged inside a car body, wherein the main controller (1) is in signal connection with a GSM module (3), and the GPS module (2) is used for receiving satellite signals and outputting coordinate signals to the main controller (1) in a time-sharing manner; the main controller (1) is used for receiving the coordinate signals and outputting coordinate data to the GSM module (3); the GSM module (3) is connected with the service station (4) through the base station, so that the master controller (1) and the service station (4) carry out information interaction, and the GSM module is characterized in that: the interior of the vehicle body also comprises a laser scanning radar (5), a flame sensor (6) and a vibration sensor (7);

the laser scanning radar (5) is arranged on the top of the vehicle body, the laser scanning radar (5) is in signal connection with the main controller (1), and the main controller (1) starts the laser scanning radar (5); scanning the vehicle body by a laser scanning radar (5) to obtain scanning data, outputting the scanning data to a main controller (1), and transmitting the scanning data to a service station (4) through a GSM (global system for mobile communications) module (3);

the flame sensor (6) and the vibration sensor (7) are in signal connection with the main controller (1) through an AD converter (8); vibrations sensor (7) are used for gathering automobile body vibration data, flame sensor (6) are used for detecting the interior conflagration data of car, AD converter (8) convert the analog signal of flame sensor (6) and vibrations sensor (7) into digital signal and transmit for master controller (1), send digital signal to service station (4) by master controller (1).

2. The internet-of-vehicles based vehicle positioning and tracking system of claim 1, wherein: the flame sensor (6) is fixed on an electric wire harness in an engine compartment of the automobile body through a binding belt, and the flame sensor (6) is used for detecting flame through an infrared receiving tube and converting the flame brightness into a level signal with high and low changes to be output to the main controller (1).

3. The internet-of-vehicles based vehicle positioning and tracking system of claim 1, wherein: the GSM module (3) adopts an SIM800C module, the power supply voltage of the GSM module (3) is 3.3V, the GSM module (3) is connected with a power supply through a voltage stabilizer, and the voltage range of a base pin VBAT of the GSM module (3) is 3.2V-4.8V.

4. The internet-of-vehicles based vehicle positioning and tracking system of claim 1, wherein: the GPS module (2) is a VK2828U7G5LF module, and the GPS module (2) is used for receiving satellite signals and sending coordinate signals containing longitude and latitude information to the main controller (1) through a serial port.

5. The internet-of-vehicles based vehicle positioning and tracking system of claim 1, wherein: the main controller (1) is STM32 series system controller, and the specific model is STM32F103C8T6, the voltage of main controller (1) is 3.3V for voltage.

6. The internet of vehicles based vehicle positioning and tracking system of claim 1, wherein: the inside display module that sets up of automobile body, display module and master controller (1) signal connection, master controller (1) are used for showing coordinate data and location data, real-time on the display module.

7. A localization tracking method using the car networking based car localization and tracking system of any one of claims 1 to 6, characterized in that: the GPS module (2) outputs a coordinate signal to the master controller (1) once every N seconds, the GSM module (3) is connected with the base station in real time and records the identification code of the base station, the master controller (1) stores the coordinate signal after receiving the coordinate signal, coordinate data are output to the base station through the GSM module (3), and the base station transmits the coordinate data to the service station (4);

the coordinate data at least comprises coordinate information of a latest frequency GPS module (2) and an identification code of a latest frequency GSM module (3) connected with a base station; the laser scanning radar (5) sends scanning data to the main controller (1), and the main controller (1) sends coordinate data and the scanning data to the service station (4) through the GSM module (3).

8. The localization tracking method according to claim 7, wherein: the vibration sensor (7) or the flame sensor (6) outputs signals to the main controller (1), and when the parameter value of the digital signals received by the main controller (1) reaches a threshold value, the main controller (1) drives the laser scanning radar (5) to start.

9. The localization tracking method according to claim 7, wherein: GPS module (2) does not receive the coordinate signal, then GPS module (2) exports the original point signal to master controller (1) after interval N seconds, and output control signal to GSM module (3) after master controller (1) received the original point signal this moment, to GSM module (3) synchronous connection near basic station this moment to the identification code of near basic station of record, when master controller (1) receives the original point signal twice in succession, with the last identification code packing of recording near basic station and send to the server, until GPS module (2) search the satellite signal and send coordinate signal to master controller (1), master controller (1) control GSM module (3) resend coordinate data this moment.

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