CN1281150A - Automatic positioning method for motor-driven vehicles - Google Patents
Automatic positioning method for motor-driven vehicles Download PDFInfo
- Publication number
- CN1281150A CN1281150A CN 00122848 CN00122848A CN1281150A CN 1281150 A CN1281150 A CN 1281150A CN 00122848 CN00122848 CN 00122848 CN 00122848 A CN00122848 A CN 00122848A CN 1281150 A CN1281150 A CN 1281150A
- Authority
- CN
- China
- Prior art keywords
- data
- vehicle
- location
- information
- sent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
An automatic positioning method for motor-driven vehicle includes arranging position emitters at side of road to emit its position information correspondent to its position on electronic map, receiving the position information by position receiver in vehicle, data processing, emitting the processed data to base station unit by emitter in vehicle, and the base station transmitting the data signal to the control center over transmission line. Its advantage is high accuracy.
Description
The present invention is a kind of automatic positioning method for motor-driven vehicles.
The automatic location of motor vehicle is meant passes through Vehicle positioning system, in real time each motor vehicle in the system being carried out the position determines, obtain positional information, and by GIS (Geographic Information System) workstation or terminal, at chart display vehicle location electronically, thereby realize specific functions of use such as automobile navigation, vehicle tracking.At present, GPS one GPS is generally adopted in the automatic location of motor vehicle, for improving bearing accuracy, adding again and having adopted DGPS is differential GPS, it be by the differential reference station that is positioned at the known point position by the satellite data that receives calculate base station to the distance of satellite (owing to comprise multiple error, be referred to as pseudorange), utilize the known location and the satellite almanac data of base station to calculate the actual distance of reference receiver simultaneously to satellite, then with the correction of the difference between pseudorange and true distance as distance, by wireless device real-time send the user to, the user then utilizes the observed quantity of this correction correction oneself, so that calculate the position of oneself more accurately, send the difference of correcting information according to standard station, the differential GPS location can be divided into four classes, that is: differential position, pseudo range difference, phase place smoothing pseudo range difference and phase difference, yet, no matter be GPS or DGPS, when both use in urban environment, because the obstruct of housing-group, the raising of urban environment noise average level, can't receive the signal of four required satellites of GPS simultaneously at many streets GPS equipment at all, motor vehicle can't be located at all, DGPS is owing to depend on gps signal, it is actually on gps signal and revises, when gps signal was out of use, the DGPS signal had also just lost meaning.
The objective of the invention is to: vehicle can't receive the practical problems that gps signal can not accurately be located in the urban environment in order to solve, a kind of automatic positioning method for motor-driven vehicles is provided, make vehicle in the gps system in the time can't receiving gps signal, System Control Center still can carry out track and localization to vehicle, and accurate positioning, the precision height.
The present invention is achieved in that automatic positioning method for motor-driven vehicles, by the GIS Geographic Information System, at chart display vehicle location electronically, vehicle is positioned, board units comprises data processing control device, the GPS receiver, vehicle-mounted transmitter, the DR data collector, the unit, command and control center comprises GIS Geographic Information System main frame and data acquisition interface, it is characterized in that: with certain spacing some location transmitters of launching its fixed position information are set on the urban road side, different location transmitters is the different positional information of emission in certain zone, the positional information that every location transmitters is sent is corresponding with the positional information that it is indicated on electronic chart respectively, relative set and the corresponding vehicle-mounted receiver of location transmitters in the board units, the position signalling that is sent with the corresponding location transmitters that receives in the vehicle region, vehicle-mounted receiver is sent the position signalling that receives into data processing control device, by the data processing control device positional data, gps data, DR data acquisition data etc. are carried out data fitting, data-signal after the processing is wirelessly sent to base station unit through vehicle-mounted transmitter, and base station unit is sent data-signal into the unit, command and control center through the mode of wire transmission again.
The present invention is because in the other location transmitters that is provided with some of urban road, each location transmitters is all launched and its corresponding positional information in position that is indicated on electronic chart to the vehicle through this place in the zone of certain radius, remedied vehicle because of receiving the problem that gps signal can not be located, the positional information of Fa Songing is directly corresponding with the marker location on the electronic chart in addition, therefore there is not any positioning error, and when vehicle can receive gps signal, on the basis of this high-precision fixed bit data, in conjunction with DGPS, technology such as DR make system give play to better positioning function.
Below in conjunction with embodiment the present invention is described in detail:
Fig. 1 is a motor vehicle automatic station-keeping system block diagram of the present invention.
Automatic positioning method for motor-driven vehicles of the present invention, be every 100-200 rice a location transmitters to be set on the urban road side, the emission radius of location transmitters is made as 15-120 rice, the positional information that each location transmitters is launched is corresponding with the positional information that it is indicated on electronic chart respectively, positional information comprises absolute location information, pavement behavior information, with relation information of close position transmitter etc., vehicle coordinate point on the electronic chart is slided along the road of linear, based on location information data, in conjunction with other possible several data, as GPS, DGPS, velograph, accelerometer, DR etc., the location transmitters data can near the certain limit of location positioning this location transmitters location point with vehicle in, location in this scope then adopts other as velograph, accelerometer, the relative positioning mode of DR, because the linear of road, on the basis of position transmitter site information data, then can estimate the traffic direction that vehicle is possible, at this moment, if know the speed of vehicle, can calculate the simple running orbit of vehicle, if point of crossing at road, then according to the road surface of the variation and the linear of acceleration, dope next traffic route, area between location transmitters, if can receive GPS and DGPS signal, and in certain precision, can be with this gps data as the location transmitters data, be equivalent to increase the density of location transmitters, bearing accuracy can be higher.
Because influencing each other and the influence of cost of location transmitters launching electromagnetic wave, location transmitters can not be installed very densely, the blind area may appear locating in the place between location transmitters like this, utilize accelerometer output to characterize the acceleration electric signal of acceleration, this signal is carried out integration, can extrapolate speed and change in location, though this integration increase in time, error can be increasing, yet, because vehicle can in time receive the position signalling that next location transmitters is launched, constantly rectification error in advancing, positioning error is maintained in certain scope all the time, guaranteed the validity and the correctness of data.When utilizing vehicle to turn round, bigger acceleration characteristic to the left or to the right must be arranged, adopt the two dimension acceleration meter that is located in the board units, degree of will speed up integration can obtain the variation of velocity reversal and size, directly estimates direction of traffic and car speed.
After location transmitters of the present invention is installed in the road side, just can need the system of position signalling that locating information is provided to any one, as public transit system, 110 warning systems, public security system etc., different is that different system mobile units sends the positional information that obtains to different information process unit, realizes dealing with separately.With a fire-fighting system is example, 2 GPS GPS and GIS Geographic Information System of forming via satellite, at chart display vehicle location electronically, vehicle is positioned, board units 3 comprises the data processing control device 4 that includes CPU, GPS receiver 5, DGPS receiver 6, vehicle-mounted transmitter 7, DR data collector 8, board units 3 receives GPS locating information and location transmitters 1 information, data are sent to the wireless base unit 10 that is installed in the firehouse by wireless vehicle mounted transmitter 7, wireless base unit 10 is got off Data Receiving, be sent to unit, command and control center 11 by the Modem modulator-demodular unit again, unit, command and control center 11 comprises GIS Geographic Information System main frame 12 and data acquisition interface 13, the present invention is provided with some location transmitters 1 of launching its fixed position information on the urban road side with certain spacing, different location transmitters 1 is the different positional information of emission in certain zone, the positional information that every location transmitters is sent is corresponding with the positional information that it is indicated on electronic chart respectively, relative set and location transmitters 1 corresponding vehicle-mounted position receiver 9 in the board units, the position signalling that is sent with the corresponding location transmitters 1 that receives in the vehicle region, position receiver 9 demodulates the map reference position signalling and sends into data processing control device 4, DR data collector 8 obtains the vehicle course, the speed of a ship or plane, data such as acceleration, then by data processing control device 4 positional data, gps data, DR data acquisition data etc. are carried out data fitting, demodulated data signal after the processing to audio frequency after vehicle-mounted transmitter 7 is wirelessly sent to base station unit 10, because the obstruct of high building, wireless signal generally can not well transmit in the urban district, so adopt the base station unit substitute mode, promptly in certain zone, lay the base station unit of some, receive the board units information signal in certain zone respectively, through the mode of wire transmission data-signal is sent into unit, command and control center 11 again by wired Modem after the demodulation.The present invention since consecutive intervals be provided with location transmitters, almost do not have first positioning time, under worst condition, be no more than 5 seconds.
Claims (3)
1. automatic positioning method for motor-driven vehicles, by the GIS Geographic Information System, at chart display vehicle location electronically, vehicle is positioned, board units comprises data processing control device, the GPS receiver, vehicle-mounted transmitter, the DR data collector, the unit, command and control center comprises GIS Geographic Information System main frame and data acquisition interface, it is characterized in that: with certain spacing some location transmitters of launching its fixed position information are set on the urban road side, different location transmitters is the different positional information of emission in certain zone, the positional information that every location transmitters is sent is corresponding with the positional information that it is indicated on electronic chart respectively, relative set and the corresponding vehicle-mounted receiver of location transmitters in the board units, the position signalling that is sent with the corresponding location transmitters that receives in the vehicle region, vehicle-mounted receiver is sent the position signalling that receives into data processing control device, by the data processing control device positional data, gps data, DR data acquisition data etc. are carried out data fitting, data-signal after the processing is wirelessly sent to base station unit through vehicle-mounted transmitter, and base station unit is sent data-signal into the unit, command and control center through the mode of wire transmission again.
2. automatic positioning method for motor-driven vehicles as claimed in claim 1 is characterized in that: utilize accelerometer output to characterize the acceleration electric signal of acceleration, this signal is carried out integration to extrapolate speed and change in location.
3. automatic positioning method for motor-driven vehicles as claimed in claim 1 or 2 is characterized in that: described positional information comprise absolute location information, pavement behavior information and with the relation information of close position transmitter.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB00122848XA CN1145808C (en) | 2000-08-30 | 2000-08-30 | Automatic positioning method for motor-driven vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB00122848XA CN1145808C (en) | 2000-08-30 | 2000-08-30 | Automatic positioning method for motor-driven vehicles |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1281150A true CN1281150A (en) | 2001-01-24 |
CN1145808C CN1145808C (en) | 2004-04-14 |
Family
ID=4589360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB00122848XA Expired - Fee Related CN1145808C (en) | 2000-08-30 | 2000-08-30 | Automatic positioning method for motor-driven vehicles |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN1145808C (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1323281C (en) * | 2004-03-19 | 2007-06-27 | 李瑞强 | Method of indicating city location using position coded radio electronic signals and radio signal addressing system for city location |
CN100520762C (en) * | 2003-05-12 | 2009-07-29 | 环航网络公司 | Methods for communicating between elements in a hierarchical floating car data network |
CN101303238B (en) * | 2007-05-09 | 2010-09-29 | 王海舟 | Method for measuring net element spacing distance in traffic communication network |
CN102340867A (en) * | 2011-08-31 | 2012-02-01 | 陈立 | High-accuracy wireless train positioning system and positioning method of railway station and yard |
CN1885060B (en) * | 2005-06-20 | 2012-03-07 | 英华达(上海)电子有限公司 | Method for automatically loading map on GPS according to global satellite positioning signals |
CN101655553B (en) * | 2009-05-20 | 2012-05-23 | 北京派瑞根科技开发有限公司 | Electronic equipment for obtaining three-dimensional movement locus of object |
CN103453911A (en) * | 2012-12-28 | 2013-12-18 | 北京握奇数据系统有限公司 | Method, device and system for vehicle positioning |
CN103514752A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Device for monitoring special vehicles based on traffic light network |
CN103797333A (en) * | 2011-09-13 | 2014-05-14 | 罗伯特·博世有限公司 | Device and method for determining a position of a vehicle |
CN103926557A (en) * | 2014-04-17 | 2014-07-16 | 广州三峰网络科技有限公司 | Intelligent positioning and navigation system |
CN105352516A (en) * | 2015-11-21 | 2016-02-24 | 广西南宁至简至凡科技咨询有限公司 | Low-cost vehicle navigation system based on GPS, GIS, and DR |
CN106205178A (en) * | 2016-06-30 | 2016-12-07 | 联想(北京)有限公司 | A kind of vehicle positioning method and device |
CN108267148A (en) * | 2017-12-22 | 2018-07-10 | 重庆长安汽车股份有限公司 | Based on V2X vehicle locating devices and use its Co-factor propagation system |
CN108692722A (en) * | 2017-04-03 | 2018-10-23 | 通用汽车环球科技运作有限责任公司 | Infrastructure verifies vehicle location |
CN109683183A (en) * | 2019-02-22 | 2019-04-26 | 山东天星北斗信息科技有限公司 | A kind of public transit system index point auxiliary revision method and system |
-
2000
- 2000-08-30 CN CNB00122848XA patent/CN1145808C/en not_active Expired - Fee Related
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100520762C (en) * | 2003-05-12 | 2009-07-29 | 环航网络公司 | Methods for communicating between elements in a hierarchical floating car data network |
CN1323281C (en) * | 2004-03-19 | 2007-06-27 | 李瑞强 | Method of indicating city location using position coded radio electronic signals and radio signal addressing system for city location |
CN1885060B (en) * | 2005-06-20 | 2012-03-07 | 英华达(上海)电子有限公司 | Method for automatically loading map on GPS according to global satellite positioning signals |
CN101303238B (en) * | 2007-05-09 | 2010-09-29 | 王海舟 | Method for measuring net element spacing distance in traffic communication network |
CN101655553B (en) * | 2009-05-20 | 2012-05-23 | 北京派瑞根科技开发有限公司 | Electronic equipment for obtaining three-dimensional movement locus of object |
CN102340867A (en) * | 2011-08-31 | 2012-02-01 | 陈立 | High-accuracy wireless train positioning system and positioning method of railway station and yard |
CN102340867B (en) * | 2011-08-31 | 2014-05-28 | 陈立 | High-accuracy wireless train positioning system and positioning method of railway station and yard |
CN103797333A (en) * | 2011-09-13 | 2014-05-14 | 罗伯特·博世有限公司 | Device and method for determining a position of a vehicle |
CN103514752A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Device for monitoring special vehicles based on traffic light network |
CN103453911A (en) * | 2012-12-28 | 2013-12-18 | 北京握奇数据系统有限公司 | Method, device and system for vehicle positioning |
WO2014101666A1 (en) * | 2012-12-28 | 2014-07-03 | 北京握奇智能科技有限公司 | Vehicle positioning method, apparatus, and system |
CN103453911B (en) * | 2012-12-28 | 2016-04-20 | 北京握奇数据系统有限公司 | A kind of method of vehicle location, device and system |
CN103926557A (en) * | 2014-04-17 | 2014-07-16 | 广州三峰网络科技有限公司 | Intelligent positioning and navigation system |
CN105352516A (en) * | 2015-11-21 | 2016-02-24 | 广西南宁至简至凡科技咨询有限公司 | Low-cost vehicle navigation system based on GPS, GIS, and DR |
CN106205178A (en) * | 2016-06-30 | 2016-12-07 | 联想(北京)有限公司 | A kind of vehicle positioning method and device |
CN108692722A (en) * | 2017-04-03 | 2018-10-23 | 通用汽车环球科技运作有限责任公司 | Infrastructure verifies vehicle location |
CN108267148A (en) * | 2017-12-22 | 2018-07-10 | 重庆长安汽车股份有限公司 | Based on V2X vehicle locating devices and use its Co-factor propagation system |
CN109683183A (en) * | 2019-02-22 | 2019-04-26 | 山东天星北斗信息科技有限公司 | A kind of public transit system index point auxiliary revision method and system |
Also Published As
Publication number | Publication date |
---|---|
CN1145808C (en) | 2004-04-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1145808C (en) | Automatic positioning method for motor-driven vehicles | |
US6515596B2 (en) | Speed limit display in a vehicle | |
US20100295726A1 (en) | Global positioning system error correction, vehicle tracking and object location | |
CN101295436B (en) | Traffic situation determination system | |
EP0123562A1 (en) | Vehicule route finding system | |
CN111123334B (en) | Multi-vehicle cooperative positioning platform and positioning method under limit working condition | |
CN102930738A (en) | Vehicle positioning and traffic flow detection system and method | |
US20050221759A1 (en) | Intelligent transportation system | |
CN110901705A (en) | Train initial positioning method and system | |
CN108267148A (en) | Based on V2X vehicle locating devices and use its Co-factor propagation system | |
CN1573834A (en) | Apparatus for detecting position information of a moving object | |
KR20000032614A (en) | Method and apparatus for collecting traffic information and method for processing speed data of traffic information | |
JP5225197B2 (en) | Vehicle position detection device | |
JP4004627B2 (en) | Road traffic system by two-way communication between vehicles | |
CN108663054A (en) | A kind of method and its device of vehicle location | |
CN110869864B (en) | Method for locating a vehicle with a high degree of automation, and corresponding driver assistance system and computer program | |
CN112585425A (en) | Method for locating a vehicle | |
CN110345949A (en) | The localization method and its system in a kind of vehicle place lane | |
CN112485818B (en) | Train control vehicle-mounted positioning method and system and vehicle-mounted terminal | |
EP1156461A2 (en) | Vehicle-mounted positional information indication system | |
Volam et al. | A system and method for transmission of traffic sign board information to vehicles and relevance determination | |
JP2002225708A (en) | Position detector, information processor, and position detection system | |
CN112378384A (en) | Vehicle-mounted special terrain surveying and mapping system and method in surveying and mapping project | |
KR100547623B1 (en) | Precise positioning device and method using location information of radio frequency recognition system | |
KR100794137B1 (en) | Apparatus and method for car navigation/traffic information gathering using electronic compass |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C06 | Publication | ||
PB01 | Publication | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C19 | Lapse of patent right due to non-payment of the annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |