CN116931029A - Vehicle positioning method, vehicle positioning device and vehicle - Google Patents
Vehicle positioning method, vehicle positioning device and vehicle Download PDFInfo
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- CN116931029A CN116931029A CN202210332927.XA CN202210332927A CN116931029A CN 116931029 A CN116931029 A CN 116931029A CN 202210332927 A CN202210332927 A CN 202210332927A CN 116931029 A CN116931029 A CN 116931029A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012937 correction Methods 0.000 claims abstract description 72
- 238000004590 computer program Methods 0.000 claims description 11
- 230000004807 localization Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
- B60R25/33—Detection related to theft or to other events relevant to anti-theft systems of global position, e.g. by providing GPS coordinates
-
- 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
- G01S19/40—Correcting position, velocity or attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a vehicle positioning method and a vehicle positioning device. The method is that the target vehicle is respectively communicated with a navigation satellite system and a server to position the target vehicle, and comprises the following steps: the target vehicle communicates with a navigation satellite system to obtain preliminary positioning information of the target vehicle; the target vehicle communicates with the server to obtain correction information related to the original vehicle positioned around the target vehicle from the server; and correcting the preliminary positioning information of the target vehicle by using the correction information to obtain final positioning information of the target vehicle. The vehicle positioning method and the vehicle positioning device can realize accurate positioning of the vehicle without participation of a reference base station, thereby not only improving the accuracy of vehicle positioning, but also saving the cost of vehicle positioning.
Description
Technical Field
The present invention relates to a vehicle positioning technology, and in particular, to a vehicle positioning method and a vehicle positioning device.
Background
In the existing vehicle positioning technology, most of the technologies adopt a GNSS (Global Navigation Satellite System ) and a correction service to obtain centimeter-level high-precision positioning of a vehicle, wherein the correction service is obtained by selecting different mechanisms according to different manufacturers, and the main flow mechanism is as follows:
(1) OSR (Observation Space Representation, observation domain);
(2) network RTK (networked instant dynamic positioning);
(3) SSR (State Space Representation, state space domain).
For example, under the SSR mechanism, vehicle localization is performed by:
the processing center collects related data of the reference base station and establishes an error model;
the processing center sends the error model to the vehicle;
the vehicle corrects the GNSS-obtained vehicle position based on the error model, thereby calculating a high-precision vehicle position.
It is seen that there is a problem in the prior art that these correction services need to be configured in order to accurately position the vehicle, but the cost of the product increases due to the high subscription fees for the correction services of the respective factories.
Disclosure of Invention
In view of the above, a vehicle positioning method and a vehicle positioning device capable of eliminating the above problems and realizing accurate positioning of a vehicle are provided.
The vehicle positioning method of the present invention is characterized in that the method is that a target vehicle positions the target vehicle by communicating with a navigation satellite system and a server, respectively, and the method includes:
the target vehicle communicates with a navigation satellite system to obtain preliminary positioning information of the target vehicle;
the target vehicle communicates with the server to obtain correction information related to the original vehicle positioned around the target vehicle from the server; and
and correcting the preliminary positioning information of the target vehicle by using the correction information to obtain final positioning information of the target vehicle.
Optionally, the correction information is obtained by:
the original vehicle is communicated with the navigation satellite system to obtain preliminary positioning information of the original vehicle;
comparing the preliminary positioning information of the original vehicle with the position information of a known reference base station to obtain first error information;
correcting the preliminary positioning information of the original vehicle based on the first error information to obtain final positioning information of the original vehicle;
the server calculates the correction information based on the final positioning information of the original vehicle; and
the server transmits the correction information to the target vehicle.
Optionally, the correcting the preliminary positioning information of the target vehicle by using the correction information to obtain final positioning information of the target vehicle includes:
comparing the correction information with the preliminary positioning information of the target vehicle to obtain second error information; and
and correcting the preliminary positioning information of the target vehicle based on the second error information to obtain final positioning information of the target vehicle.
Optionally, the target vehicle communicating with a navigation satellite system to obtain preliminary positioning information of the target vehicle includes:
and acquiring longitude and latitude information of the target vehicle through carrier signals with different frequencies between the target vehicle and the navigation satellite system.
Optionally, the second error information includes one or more of: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
Optionally, the server matches the prior probability to the original vehicles positioned around the target vehicle, and when a plurality of original vehicles positioned around the target vehicle are matched, the server calculates overall correction information of the plurality of original vehicles based on the posterior probability weight comparison, and sends the correction information with highest confidence in the overall correction information to the target vehicle.
Under the condition that only one original vehicle exists, the server calculates satellite propagation path errors, ground errors, receiver end errors, multipath effect errors and the like at the moment according to the accurate positioning information of the original vehicle, and then calculates correction information by combining pseudo-range values.
In the case where the correction information is not calculated by the server, the server transmits the Doppler shift observed value of the target vehicle as the correction information to the target vehicle.
The vehicle positioning device according to the present invention is provided in a target vehicle, and includes:
the positioning module is used for communicating with the navigation satellite system to obtain preliminary positioning information of the target vehicle;
an acquisition module for communicating with a server to obtain correction information from the server relating to an original vehicle in which the periphery of the target vehicle has been located; and
and the correction module is used for correcting the preliminary positioning information of the target vehicle by using the correction information so as to obtain the final positioning information of the target vehicle.
Optionally, the correction information is obtained by:
the original vehicle is communicated with the navigation satellite system to obtain preliminary positioning information of the original vehicle; comparing the preliminary positioning information of the original vehicle with the position information of a known reference base station to obtain first error information; correcting the preliminary positioning information of the original vehicle based on the first error information to obtain final positioning information of the original vehicle; the server calculates the correction information based on the final positioning information of the original vehicle; and a server transmitting the correction information to the target vehicle.
Optionally, the positioning module and the navigation satellite system communicate through carrier signals with different frequencies to obtain longitude and latitude information of the target vehicle.
Optionally, the correction module compares the correction information with preliminary positioning information of the target vehicle to obtain second error information, and corrects the preliminary positioning information of the target vehicle based on the second error information to obtain final positioning information of the target vehicle.
Optionally, the second error information includes one or more of: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
The computer-readable medium of the present invention, on which a computer program is stored, is characterized in that,
the computer program when executed by the processor implements the vehicle positioning method.
The computer device of the invention comprises a storage module, a processor and a computer program stored on the storage module and capable of running on the processor, and is characterized in that the computer program is executed by the processor to realize the vehicle positioning method.
The vehicle of the invention is characterized by comprising the vehicle positioning device of the invention.
Drawings
Fig. 1 is a flow chart of a vehicle positioning method of the present invention.
Fig. 2 is a block diagram of the vehicle positioning system of the present invention.
Fig. 3 is a block diagram showing a configuration of a vehicle positioning device provided in a target vehicle according to the present invention.
Detailed Description
The following presents a simplified summary of the invention in order to provide a basic understanding of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.
For the purposes of brevity and explanation, the principles of the present invention are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to all types of vehicle positioning methods and vehicle positioning devices, and that these same principles may be implemented therein, and that any such variations do not depart from the true spirit and scope of the present patent application.
The technical idea of an aspect of the vehicle positioning method of the present invention is to replace the function of the "reference base station" in the prior art with surrounding vehicles that have obtained accurate positioning to provide a correction service for GNSS-obtained vehicle positioning.
Fig. 1 is a flow chart of a vehicle positioning method of the present invention.
As shown in fig. 1, an exemplary vehicle positioning method of the present invention includes the steps of:
step S100: the target vehicle communicates with a navigation satellite system to obtain preliminary positioning information of the target vehicle;
step S200: the target vehicle communicates with the server to obtain correction information related to the original vehicle positioned around the target vehicle from the server; and
step S300: and correcting the preliminary positioning information of the target vehicle by using the correction information to obtain final positioning information of the target vehicle.
Here, the target vehicle refers to a vehicle that is currently required to be positioned, and the original vehicle refers to a vehicle whose periphery of the target vehicle has been accurately positioned.
In this way, it is equivalent to the prior art that "collecting the relevant data of the reference base station" is replaced with "collecting the relevant correction data of the surrounding located original vehicle", that is, the reference base station is replaced by the surrounding located original vehicle, whereby it is unnecessary for the "reference base station" to participate in the positioning process of the target vehicle.
Here, as one example, the correction information transmitted from the server to the target vehicle in step S200 is obtained by:
the original vehicle is communicated with the navigation satellite system to obtain preliminary positioning information of the original vehicle;
comparing the preliminary positioning information of the original vehicle with the position information of a known reference base station to obtain first error information;
correcting the preliminary positioning information of the original vehicle based on the first error information to obtain final positioning information of the original vehicle;
calculating the correction information based on the final positioning information of the original vehicle; and
the correction information is transmitted to the target vehicle.
Specifically, the server matches the prior probability to the original vehicles positioned around the target vehicle, and when a plurality of original vehicles positioned around the target vehicle exist, the server calculates overall correction information of the plurality of original vehicles based on posterior probability weight comparison, and sends the correction information with highest confidence in the overall correction information to the target vehicle.
Under the condition that only one original vehicle exists, the server calculates satellite propagation path errors, ground errors, receiver end errors, multipath effect errors and the like at the moment according to the accurate positioning information of the original vehicle, and then calculates correction information by combining pseudo-range values.
Wherein, in the case that the server does not calculate the correction information, the server transmits the Doppler shift observed value of the target vehicle as the correction information to the target vehicle.
In step S100, the target vehicle communicating with the navigation satellite system to obtain preliminary positioning information of the target vehicle includes:
and acquiring longitude and latitude information of the target vehicle through carrier signals with different frequencies between the target vehicle and the navigation satellite system. For example, the target vehicle communicates with the navigation satellite system by using carrier signals (L1 and L2) of different frequencies, two different ranging code signals, and satellite orbit information, thereby obtaining longitude and latitude information of the target vehicle by satellite positioning.
In step S300, correcting the preliminary positioning information of the target vehicle using the correction information to obtain final positioning information of the target vehicle includes:
comparing (e.g., making a difference) the correction information with preliminary positioning information of the target vehicle (i.e., longitude and latitude information of the target vehicle obtained by satellite positioning) to obtain second error information; and
and correcting the preliminary positioning information of the target vehicle based on the second error information to obtain final positioning information of the target vehicle.
Here, as one example, the second error information includes one or more of the following: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
Fig. 2 is a block diagram of the vehicle positioning system of the present invention. As shown in fig. 2, the vehicle positioning system of the present invention includes an original vehicle 100, a target vehicle 200, a navigation satellite system 300, and a server 400.
The original vehicle 100 communicates with the server 400, and provides the server 400 with accurate positioning information of the positioned original vehicle.
The target vehicle 200 and the navigation satellite system 300 perform communication interaction to obtain preliminary positioning information of the target vehicle, the target vehicle 200 performs communication interaction with the server 400 to obtain correction information related to the positioned original vehicle from the server, and the target vehicle 200 performs accurate positioning on the target vehicle based on the preliminary positioning information to obtain final positioning information of the target vehicle.
Wherein correction information related to the located original vehicle 100 is obtained based on the accurate positioning information of the located original vehicle 100. Specifically, the original vehicle 100 transmits the positioned accurate positioning information to the server 400, the correction information is calculated by the server 400 based on the positioned accurate positioning information of the original vehicle 100, and the server 400 transmits the correction information to the target vehicle 200.
Fig. 3 is a block diagram showing a configuration of a vehicle positioning device provided in a target vehicle according to the present invention.
The target vehicle 200 is provided with a vehicle positioning device 210, and as shown in fig. 3, the vehicle positioning device 210 includes:
a positioning module 211 for communicating with the navigation satellite system 300 to obtain preliminary positioning information of the target vehicle;
an acquisition module 212 for communicating with the server 400 to obtain correction information from the server 400 regarding the original vehicle 100 that has been located around the target vehicle 200; and
a correction module 213 for correcting the preliminary positioning information of the target vehicle 200 using the correction information to obtain final positioning information of the target vehicle.
The positioning module 211 communicates with the navigation satellite system 300 through carrier signals with different frequencies to obtain latitude and longitude information of the target vehicle 200.
The correction module 213 compares the correction information acquired by the acquisition module 212 with the preliminary positioning information of the target vehicle 200 acquired by the positioning module 211 to obtain second error information, and corrects the preliminary positioning information of the target vehicle 200 based on the second error information to obtain final positioning information, i.e., accurate positioning information, of the target vehicle 200. Wherein the second error information includes one or more of: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
As described above, the vehicle positioning method and the vehicle positioning device of the present invention can realize accurate positioning of the vehicle without participation of the reference base station, thereby not only improving accuracy of vehicle positioning, but also saving cost of vehicle positioning.
The present invention also provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the vehicle locating method of any one of the above.
The invention also provides a computer device comprising a storage module, a processor and a computer program stored on the storage module and capable of running on the processor, wherein the processor realizes the vehicle positioning method when executing the computer program.
The invention also provides a vehicle which is characterized by comprising the vehicle positioning device.
The above examples mainly illustrate the vehicle positioning method and the vehicle positioning device of the present invention. Although only a few specific embodiments of the present invention have been described, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and the invention is intended to cover various modifications and substitutions without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (14)
1. A vehicle positioning method for positioning a target vehicle by communicating with a navigation satellite system and a server, respectively, the method comprising:
the target vehicle communicates with a navigation satellite system to obtain preliminary positioning information of the target vehicle;
the target vehicle communicates with the server to obtain correction information related to the original vehicle positioned around the target vehicle from the server; and
and correcting the preliminary positioning information of the target vehicle by using the correction information to obtain final positioning information of the target vehicle.
2. The vehicle locating method of claim 1, wherein,
the correction information is obtained by:
the original vehicle is communicated with the navigation satellite system to obtain preliminary positioning information of the original vehicle;
comparing the preliminary positioning information of the original vehicle with the position information of a known reference base station to obtain first error information;
correcting the preliminary positioning information of the original vehicle based on the first error information to obtain final positioning information of the original vehicle;
the server calculates the correction information based on the final positioning information of the original vehicle; and
the server transmits the correction information to the target vehicle.
3. A vehicle locating method as defined in claim 2, wherein,
the correcting the preliminary positioning information of the target vehicle using the correction information to obtain final positioning information of the target vehicle includes:
comparing the correction information with the preliminary positioning information of the target vehicle to obtain second error information; and
and correcting the preliminary positioning information of the target vehicle based on the second error information to obtain final positioning information of the target vehicle.
4. A vehicle locating method as defined in claim 2, wherein,
the target vehicle communicating with a navigation satellite system to obtain preliminary positioning information of the target vehicle includes:
and acquiring longitude and latitude information of the target vehicle through carrier signals with different frequencies between the target vehicle and the navigation satellite system.
5. A vehicle locating method as defined in claim 3, wherein,
the second error information includes one or more of: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
6. A vehicle locating method as defined in claim 2, wherein,
the server calculating the correction information based on the final positioning information of the original vehicle includes:
the server matches the prior probability to the original vehicles positioned around the target vehicle, and when a plurality of original vehicles positioned around the target vehicle are matched, the server calculates the overall correction information of the original vehicles based on the posterior probability weight comparison, sends the correction information with highest confidence in the overall correction information to the target vehicle,
in the case where the correction information is not calculated by the server, the server transmits the Doppler shift observed value of the target vehicle as the correction information to the target vehicle.
7. A vehicle positioning device provided to a target vehicle, comprising:
the positioning module is used for communicating with the navigation satellite system to obtain preliminary positioning information of the target vehicle;
an acquisition module for communicating with a server to obtain correction information from the server relating to an original vehicle in which the periphery of the target vehicle has been located; and
and the correction module is used for correcting the preliminary positioning information of the target vehicle by using the correction information so as to obtain the final positioning information of the target vehicle.
8. The vehicle positioning device according to claim 7, wherein the correction information is obtained by:
the original vehicle is communicated with the navigation satellite system to obtain preliminary positioning information of the original vehicle; comparing the preliminary positioning information of the original vehicle with the position information of a known reference base station to obtain first error information; correcting the preliminary positioning information of the original vehicle based on the first error information to obtain final positioning information of the original vehicle; the server calculates the correction information based on the final positioning information of the original vehicle; and a server transmitting the correction information to the target vehicle.
9. The vehicle locating apparatus of claim 7, wherein,
and the positioning module and the navigation satellite system are communicated through carrier signals with different frequencies to obtain longitude and latitude information of the target vehicle.
10. The vehicle locating apparatus of claim 7, wherein,
the correction module compares the correction information with preliminary positioning information of the target vehicle to obtain second error information, and corrects the preliminary positioning information of the target vehicle based on the second error information to obtain final positioning information of the target vehicle.
11. The vehicle locating apparatus of claim 10, wherein,
the second error information includes one or more of: satellite propagation path errors, ground errors, receiver-side errors, multipath effect errors.
12. A computer readable medium having a computer program stored thereon, characterized in that,
the computer program, when executed by a processor, implements the vehicle positioning method of any one of claims 1 to 6.
13. A computer device comprising a memory module, a processor and a computer program stored on the memory module and executable on the processor, characterized in that the processor implements the vehicle localization method of any one of claims 1-6 when executing the computer program.
14. A vehicle comprising the vehicle positioning device according to any one of claims 7 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210332927.XA CN116931029A (en) | 2022-03-31 | 2022-03-31 | Vehicle positioning method, vehicle positioning device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210332927.XA CN116931029A (en) | 2022-03-31 | 2022-03-31 | Vehicle positioning method, vehicle positioning device and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116931029A true CN116931029A (en) | 2023-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210332927.XA Pending CN116931029A (en) | 2022-03-31 | 2022-03-31 | Vehicle positioning method, vehicle positioning device and vehicle |
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|---|---|
| CN (1) | CN116931029A (en) |
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2022
- 2022-03-31 CN CN202210332927.XA patent/CN116931029A/en active Pending
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