CN117572474B - Tramcar accurate positioning method based on GNSS technology - Google Patents
Tramcar accurate positioning method based on GNSS technology Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/023—Determination of driving direction of vehicle or vehicle train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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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
- G01S19/40—Correcting position, velocity or attitude
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- General Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the technical field of positioning, in particular to a tramcar accurate positioning method based on a GNSS technology, which comprises the following steps: determining the corrected driving direction of the tramcar at the current positioning position; determining the actual distance of the tram along the corrected running direction between the previous positioning position and the current positioning position according to the corrected running speed of the tram at the previous positioning position and the current positioning position; and correcting the current positioning position of the tramcar according to the corrected running direction of the current positioning position of the tramcar and the actual path of the tramcar between the previous positioning position and the current positioning position along the corrected running direction, and determining the final positioning position of the tramcar at the current positioning position. The method eliminates the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the deviating track direction, and realizes the accurate positioning of the tramcar.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a tramcar accurate positioning method based on a GNSS technology.
Background
In the process of positioning a tramcar by using a GNSS technology, positioning deviation is often caused by electromagnetic interference or multipath effect caused by the environment, so that positioning correction is required in the actual positioning process.
The accurate positioning process of the tram mainly corrects the positioning with deviation, and the tram runs along the track, so that the running path of the tram is known, and when the positioning is corrected, the positioning position of the tram is corrected according to the positioning deviation of the tram in the direction deviating from the track.
Since the running track of the tram is curved, the positioning deviation of the tram in the running direction affects the positioning deviation of the tram in the off-track direction, and thus the positioning deviation of the reference tram in the off-track direction causes poor correction effect when the positioning position of the tram is corrected.
Disclosure of Invention
In order to solve the above problems, the present invention provides a tramcar accurate positioning method based on GNSS technology, the method comprising:
collecting a plurality of positioning positions of the tramcar in the running process and running directions and running speeds of the tramcar at each positioning position;
according to the difference of the running directions of the tramcar at the previous positioning position and the current positioning position and the distance between the tramcar at the previous positioning position and the track, weighting the running direction of the tramcar at the previous positioning position and the running direction of the tramcar at the current positioning position, and determining the corrected running direction of the tramcar at the current positioning position;
correcting the running speed of the tramcar at the current positioning position and the running speed of the tramcar at the previous positioning position according to the running direction of the tramcar at the previous positioning position and the difference between the running direction of the tramcar at the current positioning position and the corrected running direction of the tramcar at the current positioning position, and determining the actual distance of the tramcar between the previous positioning position and the current positioning position along the corrected running direction according to the corrected running speed of the tramcar at the previous positioning position and the corrected running speed of the tramcar at the current positioning position;
and correcting the current positioning position of the tramcar according to the corrected running direction of the current positioning position of the tramcar and the actual path of the tramcar between the previous positioning position and the current positioning position along the corrected running direction, and determining the final positioning position of the tramcar at the current positioning position.
Further, the determining the corrected driving direction of the tram at the current positioning position according to the difference of the driving directions of the tram at the previous positioning position and the current positioning position and the distance between the tram at the previous positioning position and the track, and weighting the driving directions of the tram at the previous positioning position and the current positioning position comprises:
determining the degree of positioning deviation of the tram at the previous positioning position according to the distance from the corrected positioning position of the tram at the previous positioning position to the track;
determining an influence weight of a previous positioning position according to the difference of the running directions of the tramcar at the previous positioning position and the current positioning position and the degree of positioning deviation of the tramcar at the previous positioning position;
and weighting the running direction of the tramcar at the previous positioning position and the running direction of the tramcar at the current positioning position according to the influence weight of the tramcar at the previous positioning position, and determining the corrected running direction of the tramcar at the current positioning position.
Further, the determining the degree of the positioning deviation of the tram at the previous positioning position according to the distance from the corrected positioning position of the tram at the previous positioning position to the track comprises:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the degree of the positioning deviation of the tram at the i-1 th positioning position,representing the shortest distance of the tram to the track at the i-1 th positioning position,indicating that the tramcar is at the ith-1 thThe corrected positioning position of the positioning position deviates from the true positioning deviation of the track direction,representing the real positioning deviation of the corrected positioning position of the tramcar at the i-1 positioning position in the running direction,wherein, the method comprises the steps of, wherein,，respectively representing the i-2 th positioning position and the i-1 st positioning position of the tramcar,indicating the Euclidean distance of the tram at the i-2 th positioning position and the i-1 st positioning position,the actual distance of the tram between the i-2 th positioning position and the i-1 th positioning position along the corrected traveling direction is shown.
Further, the determining the influence weight of the previous positioning position according to the difference of the running directions of the tram at the previous positioning position and the current positioning position and the degree of the positioning deviation of the tram at the previous positioning position comprises the following steps:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,the influence weight of the tramcar at the i-1 th positioning position is represented,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,indicating the possibility of positioning deviation of the tram at the i-1 th positioning position,representing a linear normalization function.
Further, the weighting the traveling direction of the tram at the previous positioning position and the traveling direction of the tram at the current positioning position according to the influence weight of the tram at the previous positioning position, and determining the traveling direction of the tram after the correction of the current positioning position includes:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,and the influence weight of the tramcar at the i-1 th positioning position is represented.
Further, the correcting the running speed of the tram at the current positioning position and the running speed of the tram at the previous positioning position according to the difference between the running direction of the tram at the previous positioning position and the corrected running direction of the tram at the current positioning position, respectively, includes:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,represents the running speed of the tram at the i-1 th positioning position,represents the running speed of the tram at the ith positioning position,indicating the corrected travel speed of the tram at the i-1 th positioning position,the corrected travel speed of the tram at the i-th positioning position is shown.
Further, the determining the actual distance of the tram along the corrected traveling direction between the previous positioning position and the current positioning position according to the corrected traveling speed of the tram at the previous positioning position and the current positioning position comprises:
and taking the product of the sum of the corrected running speed of the tramcar at the i-1 th positioning position and the time interval from the i-1 th positioning position to the i-th positioning position as the actual path of the tramcar between the i-1 th positioning position and the i-th positioning position along the corrected running direction, wherein the i-th positioning position is the current positioning position, and the i-1 th positioning position is the previous positioning position of the current positioning position.
Further, the step of correcting the current positioning position of the tram according to the corrected running direction of the current positioning position of the tram and the actual distance of the tram from the previous positioning position to the current positioning position along the corrected running direction to determine the final positioning position of the tram at the current positioning position includes:
taking the difference between the distance between the previous positioning position and the current positioning position of the tramcar and the actual distance between the previous positioning position and the current positioning position of the tramcar along the corrected running direction as the actual positioning deviation of the corrected positioning position of the tramcar at the current positioning position in the running direction;
correcting the current positioning position of the tramcar according to the real positioning deviation of the corrected positioning position of the tramcar in the current positioning position in the running direction, and determining the corrected positioning position of the tramcar in the current positioning position;
and determining the final positioning position of the tram at the current positioning position according to the corrected positioning position of the tram at the current positioning position.
Further, the correcting the current positioning position of the tram according to the real positioning deviation of the corrected positioning position of the tram in the driving direction, and determining the corrected positioning position of the tram in the current positioning position includes:
if it isThe tram is moved at the i-th positioning position along the opposite direction of the corrected traveling direction of the tram at the i-th positioning positionTaking the moved positioning position as a corrected positioning position of the ith positioning position of the tramcar; if it isThe tram is moved at the ith positioning position along the corrected traveling direction of the tram at the ith positioning positionThe moved positioning position is used as the corrected positioning position of the ith positioning position of the trolley bus.
Further, the determining the final positioning position of the tram at the current positioning position according to the corrected positioning position of the tram at the current positioning position includes:
and taking the position on the track closest to the corrected positioning position of the tramcar at the current positioning position as the final positioning position of the tramcar at the current positioning position.
The technical scheme of the invention has the beneficial effects that: the method and the device determine the corrected running direction of the tramcar at each positioning position, determine the actual distance between two adjacent positioning positions of the tramcar, correct the positioning position of the tramcar in the corrected running direction of each positioning position according to the corrected running direction of the tramcar at each positioning position and the actual distance between the two adjacent positioning positions of the tramcar, correct the positioning deviation of the tramcar in the corrected running direction, eliminate the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the deviated track direction, and obtain the actual positioning deviation of the tramcar in the deviated track direction, thereby realizing the accurate positioning of the tramcar.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for positioning a tramcar based on GNSS technology;
FIG. 2 is a positional deviation of a tramcar from a linear track;
fig. 3 shows the positioning deviation of the tram and the curved track.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention to achieve the preset purpose, the following detailed description is given below of the specific implementation, structure, features and effects of the tram accurate positioning method based on GNSS technology according to the present invention in conjunction with the accompanying drawings and the preferred embodiments. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The specific scheme of the tramcar accurate positioning method based on the GNSS technology provided by the invention is specifically described below with reference to the accompanying drawings.
The accurate positioning process of the tram mainly corrects the positioning with deviation, and the tram runs along the track, so that the running path of the tram is known, and when the positioning is corrected, the positioning position of the tram is corrected according to the positioning deviation of the tram in the direction deviating from the track.
The positioning deviation of the tram is respectively expressed as the positioning deviation deviating from the track direction and the positioning deviation of the running direction; referring to fig. 2, which shows the positioning deviation of the tram from the linear track, where Y is the positioning deviation of the tram in the direction of the off-track, X is the positioning deviation of the tram in the direction of the off-track when there is an influence of the positioning deviation of the tram in the direction of the travel,in order to eliminate the influence of the positioning deviation of the tram in the running direction, the positioning deviation of the tram in the direction deviating from the track is eliminated; referring to fig. 3, which shows the positioning deviation of the tram from the curved track, where Y is the positioning deviation of the tram in the direction of the off-track, X is the positioning deviation of the tram in the direction of the off-track when there is an influence of the positioning deviation of the tram in the direction of the travel,in order to eliminate the influence of the positioning deviation of the tram in the running direction, the positioning deviation of the tram in the off-track direction is eliminated.
Further, when the running track of the tram is a straight line, the positioning deviation of the tram in the direction of deviating track and the positioning deviation of the tram in the direction of running do not affect each other, while the running track of the tram is curved, the positioning deviation of the tram in the direction of running affects the positioning deviation of the tram in the direction of deviating track; in reality, the track of the tram is curved, which results in poor correction effect when correcting the positioning position of the tram with reference to the positioning deviation of the tram in the direction of the deviated track. Therefore, the embodiment determines the corrected running direction of the tramcar at each positioning position, determines the actual distance between two adjacent positioning positions of the tramcar, corrects the positioning position of the tramcar in the corrected running direction of each positioning position according to the corrected running direction of the tramcar at each positioning position and the actual distance between two adjacent positioning positions of the tramcar, corrects the positioning deviation of the tramcar in the corrected running direction, eliminates the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the deviation track direction, and obtains the actual positioning deviation of the tramcar in the deviation track direction, thereby realizing the accurate positioning of the tramcar.
Referring to fig. 1, a flowchart of a method for precisely positioning a tram based on GNSS technology according to an embodiment of the present invention is shown, where the method includes:
s001, collecting a plurality of positioning positions of the tram in the running process and the running direction and the running speed of each positioning position.
It should be noted that, the GNSS technology is used for time service, navigation and positioning on the ground, and the tramcar obtains the vehicle position and speed information by positioning through the GNSS technology, so that the administrator manages the vehicle, and the driver drives the vehicle in compliance.
In the embodiment, a plurality of positioning positions of the tramcar in the running process are obtained through a GNSS technology, wherein the positioning positions are longitude and latitude information of the tramcar; the running direction and the running speed of the tramcar at each positioning position are obtained through an inertial navigation system loaded by the tramcar; the track of the tramcar is obtained through planning.
It should be noted that, the positioning position of the tramcar in the running process and the running direction and the running speed of the tramcar in each positioning position are obtained by the GNSS technology and the inertial navigation system loaded by the tramcar are both the prior art, and are not described herein.
And S002, weighting the running direction of the tram at the previous positioning position and the running direction of the tram at the current positioning position according to the difference of the running directions of the tram at the previous positioning position and the current positioning position and the distance between the tram at the previous positioning position and the track, and determining the corrected running direction of the tram at the current positioning position.
The accurate positioning process of the tram mainly corrects the positioning with the deviation, and since the tram travels along the track, the travel path of the tram is known, and therefore when the positioning is corrected, the positioning position of the tram is corrected based on the positioning deviation of the tram in the direction of deviating from the track.
It should be further noted that the running track of the tram is curved, and the positioning deviation of the tram in the running direction affects the positioning deviation of the tram in the direction deviating from the track; in a real situation, the running track of the tramcar is curved, so that the correction effect is poor when the positioning position of the tramcar is corrected by referring to the positioning deviation of the tramcar in the direction deviating from the track; therefore, the corrected running direction of the tramcar at each positioning position is determined first, so that the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the track deviation direction can be eliminated, the real positioning deviation of the tramcar in the track deviation direction can be obtained, and the accurate positioning of the tramcar can be realized.
Since the travel directions of the tram at the i-th positioning position and the i-1 th positioning position may be different, it is necessary to comprehensively determine the corrected travel direction of the tram at each positioning position by combining the travel direction of the tram at the i-th positioning position and the travel direction of the i-1 th positioning position.
Optionally, the determining the corrected driving direction of the tram at the current positioning position includes: and weighting the running direction of the tramcar at the previous positioning position and the running direction of the tramcar at the current positioning position according to the influence weight of the tramcar at the previous positioning position, and determining the corrected running direction of the tramcar at the current positioning position.
Preferably, the specific calculation formula for determining the corrected running direction of the tram at the current positioning position is as follows:
in the method, in the process of the invention,the i-th positioning position is the current positioning position, the i-1 st positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,and the influence weight of the tramcar at the i-1 th positioning position is represented.
The smaller the influence weight of the tram at the i-1 th positioning position, the smaller the degree of contribution of the traveling direction of the tram at the i-1 th positioning position to the traveling direction of the tram after the correction of the i-th positioning position is determined, and the larger the degree of contribution of the traveling direction of the tram at the i-th positioning position to the traveling direction of the tram after the correction of the i-th positioning position is determined.
Optionally, the influence weight of the tram in the previous positioning position includes: and determining the influence weight of the previous positioning position according to the difference of the running directions of the tramcar at the previous positioning position and the current positioning position and the degree of positioning deviation of the tramcar at the previous positioning position.
Preferably, the specific calculation formula of the influence weight of the previous positioning position is:
in the method, in the process of the invention,indicating the influence weight of the tram at the i-1 th positioning positionThe value of the sum of the values,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,indicating the possibility of positioning deviation of the tram at the i-1 th positioning position,representing a linear normalization function.
The larger the difference between the traveling direction of the tram at the i-1 th positioning position and the traveling direction of the tram at the i-1 th positioning position is, the smaller the influence weight of the tram at the i-1 th positioning position is; the greater the likelihood that there is a positioning deviation of the tram at the i-1 th positioning position, the greater the influence weight of the tram at the i-1 th positioning position.
Optionally, the degree to which the tram has a positioning deviation in a previous positioning position includes: and determining the degree of positioning deviation of the tram at the previous positioning position according to the distance from the corrected positioning position of the tram at the previous positioning position to the track.
Preferably, a specific calculation formula of the degree of the positioning deviation of the tramcar at the previous positioning position is as follows:
in the method, in the process of the invention,indicating the degree of the positioning deviation of the tram at the i-1 th positioning position,indicating that the tramcar is fixed at the ith-1 thThe shortest distance of the bit locations to the track,representing the true positioning deviation of the corrected positioning position of the tram at the i-1 positioning position in the direction deviating from the track, namely the shortest distance from the corrected positioning position of the tram at the i-1 positioning position to the track,representing the real positioning deviation of the corrected positioning position of the tramcar at the i-1 positioning position in the running direction,wherein, the method comprises the steps of, wherein,，respectively representing the i-2 th positioning position and the i-1 st positioning position of the tramcar,indicating the Euclidean distance of the tram at the i-2 th positioning position and the i-1 st positioning position,the actual distance of the tram between the i-2 th positioning position and the i-1 th positioning position along the corrected traveling direction is shown.
The greater the shortest distance from the i-1 th positioning position to the track, the greater the degree of positioning deviation of the tram at the i-1 th positioning position; according to the corrected positioning position of the tram at the i-1 th positioning position, the real positioning deviation of the corrected positioning position of the tram at the i-1 th positioning position in the deviating track direction and the real positioning deviation of the corrected positioning position of the tram at the i-1 th positioning position in the driving direction can be obtained, and the larger the two real positioning deviations are, the larger the degree of positioning error of the tram at the i-1 th positioning position is.
In this embodiment, since the correction is performed for each positioning position of the tram in order, the correction is already performed for the i-1 th positioning position of the tram when the correction is performed for the i-th positioning position of the tram, and therefore, the corrected positioning position of the tram at the i-1 th positioning position is already obtained at this time.
In particular, the present embodiment does not correct the 1 st positioning position of the tram, and therefore, when correcting the 2 nd positioning position of the tram,and is also provided with。
S003, correcting the running speed of the tram at the current positioning position and the running speed of the tram at the previous positioning position according to the running direction of the tram at the previous positioning position and the difference between the running direction of the tram at the current positioning position and the corrected running direction of the tram at the current positioning position, and determining the actual distance of the tram between the previous positioning position and the current positioning position along the corrected running direction according to the corrected running speed of the tram at the previous positioning position and the corrected running speed of the tram at the current positioning position.
After determining the corrected running direction of the tramcar at each positioning position, determining the actual distance of the tramcar from the previous positioning position to the current positioning position along the corrected running direction, correcting the current positioning position of the tramcar according to the corrected running direction and the actual distance along the corrected running direction, determining the corrected positioning position of the tramcar at the current positioning position, and realizing elimination of the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the track direction and obtaining the actual positioning deviation of the tramcar in the track direction, thereby realizing accurate positioning of the tramcar.
Optionally, the actual distance of the tram between the previous positioning position and the current positioning position along the corrected driving direction comprises: the method comprises the steps of correcting the running speed of the tramcar at the current positioning position and the running speed of the tramcar at the previous positioning position according to the running direction of the tramcar at the previous positioning position and the difference between the running direction of the tramcar at the current positioning position and the corrected running direction of the tramcar at the current positioning position, and determining the actual distance of the tramcar between the previous positioning position and the current positioning position along the corrected running direction according to the corrected running speed of the tramcar at the previous positioning position and the corrected running speed of the tramcar at the current positioning position.
Preferably, the correction is performed on the running speed of the tram at the current positioning position and the running speed of the tram at the previous positioning position according to the difference between the running direction of the tram at the previous positioning position and the corrected running direction of the tram at the current positioning position, and the specific calculation formula is as follows:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position,indicating the direction of travel of the tram at the i-1 th positioning position,indicating the direction of travel of the tram at the i-th positioning position,represents the running speed of the tram at the i-1 th positioning position,represents the running speed of the tram at the ith positioning position,indicating the corrected travel speed of the tram at the i-1 th positioning position,the corrected travel speed of the tram at the i-th positioning position is shown.
Preferably, a specific calculation formula of the actual distance of the tramcar between the previous positioning position and the current positioning position along the corrected driving direction is as follows:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the actual distance of the tram between the i-1 th positioning position and the i-th positioning position along the corrected traveling direction,representing the time interval from the i-1 th positioning position to the i-th positioning position of the tram.
When the travel speed of the tram at the current positioning position is corrected according to the difference between the travel direction of the tram at the previous positioning position and the corrected travel direction of the tram at the current positioning position, the greater the difference is, the more the actual path of the tram between the i-1 th positioning position and the i-th positioning position along the corrected travel direction is determined according to the travel speed of the tram at the current positioning position, and at this time, the greater the corrected travel speed of the tram at the i-th positioning position is; when the travel speed of the tram at the previous positioning position is corrected according to the difference between the travel direction of the tram at the current positioning position and the corrected travel direction of the tram at the current positioning position, the greater the difference is, the more the actual path of the tram between the i-1 th positioning position and the i-th positioning position along the corrected travel direction is determined according to the travel speed of the tram at the previous positioning position, and at this time, the greater the corrected travel speed of the tram at the i-1 th positioning position is.
S004, correcting the current positioning position of the tramcar according to the corrected running direction of the current positioning position of the tramcar and the actual path of the tramcar between the previous positioning position and the current positioning position along the corrected running direction, and determining the final positioning position of the tramcar at the current positioning position.
Optionally, the current positioning position of the tram is corrected according to the corrected running direction of the current positioning position of the tram and the actual path of the tram between the previous positioning position and the current positioning position along the corrected running direction, so as to determine the corrected positioning position of the tram at the current positioning position.
Preferably, the actual positioning deviation of the corrected positioning position of the tram in the current positioning position in the driving direction is determined according to the distance between the previous positioning position and the current positioning position of the tram and the actual path of the tram between the previous positioning position and the current positioning position along the corrected driving direction, and the specific calculation formula is as follows:
in the method, in the process of the invention,representing the actual positioning deviation of the corrected positioning position of the tramcar at the ith positioning position in the running direction,，respectively representing the i-1 th positioning position and the i-th positioning position of the tramcar,indicating the Euclidean distance of the tram at the i-1 th positioning position and the i-th positioning position,the actual distance of the tram between the i-1 th positioning position and the i-th positioning position along the corrected traveling direction is shown.
Further, according to a true positioning deviation of the corrected positioning position of the tram in the current positioning position in the traveling direction, correcting the current positioning position of the tram, and determining the corrected positioning position of the tram in the current positioning position, the method includes: if it isThe tram is moved at the i-th positioning position along the opposite direction of the corrected traveling direction of the tram at the i-th positioning positionTaking the moved positioning position as a corrected positioning position of the ith positioning position of the tramcar; if it isThe tram is moved at the ith positioning position along the corrected traveling direction of the tram at the ith positioning positionThe moved positioning position is used as the corrected positioning position of the ith positioning position of the trolley bus.
Further, a position on the track closest to the corrected positioning position of the tram at the current positioning position is set as a final positioning position of the tram at the current positioning position.
The method and the device determine the corrected running direction of the tramcar at each positioning position, determine the actual distance between two adjacent positioning positions of the tramcar, correct the positioning position of the tramcar in the corrected running direction of each positioning position according to the corrected running direction of the tramcar at each positioning position and the actual distance between the two adjacent positioning positions of the tramcar, correct the positioning deviation of the tramcar in the corrected running direction, eliminate the influence of the positioning deviation of the tramcar in the running direction on the positioning deviation of the tramcar in the deviated track direction, and obtain the actual positioning deviation of the tramcar in the deviated track direction, thereby realizing the accurate positioning of the tramcar.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalent substitutions, improvements, etc. within the principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. The tramcar accurate positioning method based on the GNSS technology is characterized by comprising the following steps of:
collecting a plurality of positioning positions of the tramcar in the running process and running directions and running speeds of the tramcar at each positioning position;
according to the difference of the running directions of the tramcar at the previous positioning position and the current positioning position and the distance between the tramcar at the previous positioning position and the track, weighting the running direction of the tramcar at the previous positioning position and the running direction of the tramcar at the current positioning position, and determining the corrected running direction of the tramcar at the current positioning position;
according to the difference of the running directions of the tram at the previous positioning position and the current positioning position and the distance between the tram at the previous positioning position and the track, the running directions of the tram at the previous positioning position and the current positioning position are weighted, and the corrected running direction of the tram at the current positioning position is determined, which comprises the following steps:
determining the degree of positioning deviation of the tram at the previous positioning position according to the distance from the corrected positioning position of the tram at the previous positioning position to the track;
determining an influence weight of a previous positioning position according to the difference of the running directions of the tramcar at the previous positioning position and the current positioning position and the degree of positioning deviation of the tramcar at the previous positioning position;
weighting the running direction of the tramcar at the previous positioning position and the running direction of the tramcar at the current positioning position according to the influence weight of the tramcar at the previous positioning position, and determining the corrected running direction of the tramcar at the current positioning position;
the determining the degree of the positioning deviation of the tram at the previous positioning position according to the distance from the corrected positioning position of the tram at the previous positioning position to the track comprises the following steps:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the degree of positioning deviation of the tram at the i-1 th positioning position, +.>Representing the shortest distance of the tram from the i-1 th positioning position to the track,/for the track>Representing the true positioning deviation of the corrected positioning position of the tramcar at the i-1 th positioning position in the direction deviating from the track,/>Representing the true positioning deviation of the corrected positioning position of the tramcar in the i-1 th positioning position in the driving direction +.>Wherein->，/>Respectively representing the i-2 th positioning position and the i-1 th positioning position of the tram,/for the first position and the second position of the tram>Indicating the Euclidean distance of the tram at the i-2 th positioning position and the i-1 st positioning position,>representing the actual distance of the tram between the i-2 th positioning position and the i-1 th positioning position along the corrected running direction;
according to the difference of the running directions of the tram at the previous positioning position and the current positioning position and the degree of the positioning deviation of the tram at the previous positioning position, the determining the influence weight of the previous positioning position comprises the following steps:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,influence weight representing the tram at the i-1 th positioning position, +.>Indicating the direction of travel of the tram in the i-1 th positioning position +.>Indicating the direction of travel of the tram in the ith positioning position +.>Indicating the degree of positioning deviation of the tram at the i-1 th positioning position, +.>Representing a linear normalization function;
correcting the running speed of the tramcar at the current positioning position and the running speed of the tramcar at the previous positioning position according to the running direction of the tramcar at the previous positioning position and the difference between the running direction of the tramcar at the current positioning position and the corrected running direction of the tramcar at the current positioning position, and determining the actual distance of the tramcar between the previous positioning position and the current positioning position along the corrected running direction according to the corrected running speed of the tramcar at the previous positioning position and the corrected running speed of the tramcar at the current positioning position;
and correcting the current positioning position of the tramcar according to the corrected running direction of the current positioning position of the tramcar and the actual path of the tramcar between the previous positioning position and the current positioning position along the corrected running direction, and determining the final positioning position of the tramcar at the current positioning position.
2. The accurate positioning method of a tramcar based on GNSS technology according to claim 1, wherein the weighting the traveling direction of the tramcar at the previous positioning position and the traveling direction of the tramcar at the current positioning position according to the influence weight of the tramcar at the previous positioning position, determining the corrected traveling direction of the tramcar at the current positioning position includes:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position, +.>Indicating the direction of travel of the tram in the i-1 th positioning position +.>Indicating the direction of travel of the tram in the ith positioning position +.>And the influence weight of the tramcar at the i-1 th positioning position is represented.
3. The precise positioning method of a tram based on GNSS technology according to claim 1, wherein the correcting the traveling speed of the tram at the current positioning position and the traveling speed of the tram at the previous positioning position according to the difference between the traveling direction of the tram at the previous positioning position and the corrected traveling direction of the tram at the current positioning position, respectively, comprises:
wherein the ith positioning position is the current positioning position, the (i-1) th positioning position is the previous positioning position of the current positioning position,indicating the corrected driving direction of the tram at the i-th positioning position, +.>Indicating the direction of travel of the tram in the i-1 th positioning position +.>Indicating the direction of travel of the tram in the ith positioning position +.>Representing the speed of travel of the tram in the i-1 th positioning position +.>Representing the speed of travel of the tram in the ith positioning position +.>Indicating the corrected driving speed of the tram at the i-1 th positioning position,/->The corrected travel speed of the tram at the i-th positioning position is shown.
4. The accurate positioning method of a tram based on GNSS technology according to claim 1, wherein determining an actual distance of the tram along the corrected traveling direction between the previous positioning position and the current positioning position according to the corrected traveling speed of the tram between the previous positioning position and the current positioning position comprises:
and taking the product of the sum of the corrected running speed of the tramcar at the i-1 th positioning position and the time interval from the i-1 th positioning position to the i-th positioning position as the actual path of the tramcar between the i-1 th positioning position and the i-th positioning position along the corrected running direction, wherein the i-th positioning position is the current positioning position, and the i-1 th positioning position is the previous positioning position of the current positioning position.
5. The precise positioning method of a tram based on GNSS technology according to claim 1, wherein the determining the final positioning position of the tram at the current positioning position by correcting the current positioning position of the tram according to the corrected driving direction of the current positioning position of the tram and the actual distance of the tram from the previous positioning position to the current positioning position along the corrected driving direction includes:
taking the difference between the distance between the previous positioning position and the current positioning position of the tramcar and the actual distance between the previous positioning position and the current positioning position of the tramcar along the corrected running direction as the actual positioning deviation of the corrected positioning position of the tramcar at the current positioning position in the running direction;
correcting the current positioning position of the tramcar according to the real positioning deviation of the corrected positioning position of the tramcar in the current positioning position in the running direction, and determining the corrected positioning position of the tramcar in the current positioning position;
and determining the final positioning position of the tram at the current positioning position according to the corrected positioning position of the tram at the current positioning position.
6. The accurate positioning method of a tram based on GNSS technology according to claim 5, wherein the determining the corrected positioning position of the tram at the current positioning position by correcting the current positioning position of the tram according to the actual positioning deviation of the corrected positioning position of the tram at the current positioning position in the traveling direction includes:
if it isThe tram is moved in the i-th positioning position in the opposite direction of the corrected traveling direction of the tram in the i-th positioning position>Taking the moved positioning position as a corrected positioning position of the ith positioning position of the tramcar; if->Then the tram is moved in the i-th positioning position along the corrected driving direction of the tram in the i-th positioning position>The moved positioning position is used as the corrected positioning position of the ith positioning position of the trolley bus.
7. The precise positioning method of a tram based on GNSS technology according to claim 5, wherein determining a final positioning position of the tram at the current positioning position according to the corrected positioning position of the tram at the current positioning position comprises:
and taking the position on the track closest to the corrected positioning position of the tramcar at the current positioning position as the final positioning position of the tramcar at the current positioning position.
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