CN203232155U - Vehicle high-precision positioning device integrating GPS, gyroscope, and accelerometer - Google Patents

Abstract

The utility model discloses a high precision vehicle positioning device integrated with a GPS, a gyroscope and an acceleration meter. The high precision vehicle positioning device integrated with the GPS, the gyroscope and the acceleration meter comprises a GPS data acquisition module, an angular velocity gyroscope acquisition module, an acceleration acquisition module, a data processing module, a 3G/GPRS communication module and a vehicle LCD module, wherein output ends of the GPS data acquisition module, the angular velocity gyroscope acquisition module and the acceleration acquisition module are respectively connected with an input end of the data processing module, an output end of the data processing module is respectively connected with the 3G/GPRS communication module and the vehicle LCD module, and the data processing module is provided with power by a self-contained power source of a vehicle. The high precision vehicle positioning device realizes high precision positioning at a GPS signal blind area and has properties of strong timeliness, convenient mounting and use and high efficiency of data processing.

Description

Vehicle high-precision positioning device integrating GPS, gyroscope, and accelerometer

technical field

The utility model belongs to the field of traffic and high-precision positioning, and relates to a high-precision positioning device, in particular to a vehicle high-precision positioning device integrating an odometer, a gyroscope and an accelerometer.

Background technique

In the past 30 years, the mileage of expressways in my country has increased sharply. By the end of 2011, the total mileage of expressways in my country had reached 85,000 kilometers. The speed and scale of highway construction in the future will continue to maintain a strong momentum. The "Twelfth Five-Year Development Plan for Transportation" proposes that by the end of the "Twelfth Five-Year Plan", my country's national expressway network will be basically completed, and the total mileage of expressways will reach 108,000 kilometers. At the same time, the number of motor vehicles in my country continues to increase, with an average annual increase of 15.91 million in the past five years, and an increase of 17.73 million in 2011. At the end of 2011, the national motor vehicle population was 225 million, including 106 million cars. As the level of urbanization increases, the number of motor vehicles will continue to rise.

With the continuous expansion of the scale of highway traffic network and the number of motor vehicles, the problem of driving safety on expressways has become increasingly serious. The frequent occurrence of serious, extraordinarily serious and vicious traffic accidents has seriously endangered the safety of people's lives and property, and the social impact is extremely bad, resulting in new social instability factors. Therefore, high-precision positioning of vehicles is particularly important, which can effectively prevent vehicle collisions and reduce traffic accidents. However, the existing GPS method for vehicle positioning has low positioning accuracy (the positioning accuracy of ordinary civilian GPS is 5-25 meters), there are signal blind spots (such as vehicles in mountainous highways, tunnels, and urban areas with dense buildings), and the output frequency Low (ordinary GPS output frequency is about 1 ~ 10Hz) and other technical defects.

Therefore, in view of the lack of current vehicle positioning means, the existing GPS method has technical defects such as low positioning accuracy, signal blind spots, and low output frequency when performing vehicle positioning, which is a hot spot that those skilled in the art are concerned about.

Contents of the invention

In view of the defects or deficiencies in the above-mentioned prior art, the purpose of this utility model is to provide a vehicle high-precision positioning device that integrates GPS, gyroscope, and accelerometer. The device can automatically start when there is no GPS signal or the signal is weak, use the last accurate GPS data for initialization correction, and use the angular velocity gyroscope and accelerometer to calculate the real-time position information of the vehicle.

In order to realize above-mentioned technical task, the utility model adopts following technical solution:

A vehicle high-precision positioning device integrating GPS, gyroscope, and accelerometer, including GPS data acquisition module, angular velocity gyroscope acquisition module, acceleration acquisition module, data processing module, 3G/GPRS communication module and vehicle-mounted LCD module; wherein, the The output ends of the GPS data acquisition module, the angular velocity gyroscope acquisition module, and the acceleration acquisition module are respectively connected to the input ends of the data processing module, and the output ends of the data processing module are respectively connected to the 3G/GPRS communication module and the vehicle-mounted LCD module.

The utility model also includes the following other technical features:

The GPS data acquisition module adopts the Holux M-91 chip.

The acquisition module of the angular velocity gyroscope is a CMR3100-D01 angular velocity sensor.

The acceleration acquisition module adopts YC-A150S-M acceleration sensor.

The data processing module includes an industrial-grade ARM11 processor and a DSP chip connected to it.

The 3G/GPRS data sending module adopts Infineon Tech7880 chip.

The vehicle-mounted LCD module adopts a 7-inch LCD liquid crystal display screen.

The utility model has the following advantages:

1) The GPS data acquisition module, the angular velocity gyroscope acquisition module, and the accelerometer acquisition module respectively collect real-time mileage data and heading angle data, which have the characteristics of high precision, fast speed and strong real-time performance;

2) The data processing module adopts ARM processor and DSP chip dual-core architecture, which overcomes the traditional single-chip-based data processing system that can only engage in low-speed, low-precision processing tasks;

3) The LCD display module intuitively displays the current location of the vehicle, and the 3G/GPRS module can send the vehicle location information to the remote server in time.

4) The utility model is small in size, easy to install and use, and low in power consumption, and is suitable for installation environments of various vehicles.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is the work flowchart of the utility model.

The utility model is further explained below in conjunction with the accompanying drawings and specific embodiments.

Detailed ways

As shown in Figure 1, the vehicle high-precision positioning device of the fusion of GPS, gyroscope, and accelerometer of the present utility model includes a GPS data acquisition module, an angular velocity gyroscope acquisition module, an acceleration acquisition module, a data processing module, and a 3G/GPRS communication module and car LCD module. Wherein, the output ends of the GPS data acquisition module, the angular velocity gyroscope acquisition module, and the acceleration acquisition module are respectively connected to the input ends of the data processing module, and the output ends of the data processing module are respectively connected to the 3G/GPRS communication module and the vehicle-mounted LCD module. The data processing module is powered by the vehicle's own on-board power supply.

The function and selection of each module in the utility model are as follows:

GPS data acquisition module: used to obtain vehicle mileage information in real time. This module is the data foundation of the whole device, and the accurate, real-time and stable collection of data can ensure the correctness and real-time performance of the device. GPS data acquisition module adopts Holux M-91 chip, chip size is 13×15×2.2mm, module sensitivity is 159dBm, satellite channel: 32 channels, positioning accuracy: <3m, startup time: cold start: 36 seconds, hot start: 1 second, positioning time: 1 second. Its positioning accuracy is within 3 meters, the average startup time is short, the signal coverage is wide, the power consumption is low, and the accuracy is high, which is suitable for car navigation.

Angular velocity gyroscope acquisition module: used to obtain vehicle angular velocity information in real time. This module is the data foundation of the whole device and provides data support for the data processing module. The angular velocity gyroscope acquisition module is CMR3100-D01 angular velocity sensor, its size is only 3.0x3.0x0.88mm3 analog power supply voltage: 1.63.6V, digital power supply voltage: 2.53.6V, operating temperature: -40+125. It has a more compact size than ordinary gyroscopes, and its ultra-low power consumption is also one of its characteristics, with only 2.5mA current consumption and 160HZ optional bandwidth.

Acceleration acquisition module: used to obtain vehicle acceleration information in real time. This module is the data foundation of the whole device and provides data support for the data processing module. The acceleration acquisition module adopts YC-A150S-M acceleration sensor. Under the test conditions of power supply voltage 12V DC and temperature 25°C, the sensitivity is 150mV/g, and the zero temperature drift is ±1.0mg/°C. It can be used interchangeably without calibration, and has the characteristics of fast response time, accurate measurement, high reliability, strong stability, small size and low power consumption.

Data processing module: used to perform calculus calculations based on the last precise GPS data, vehicle real-time acceleration, and real-time heading angle to obtain vehicle relative; the core of the whole device of this module, the high-level, accurate and timely data processing algorithm can make the device more practical . The data processing module includes an industrial-grade ARM11 processor PXA270 chip and a DSP chip connected to it. It is a dual-core structure. The ARM11 processor PXA270 chip is based on the Xscale core of ARMv5E, and the highest frequency can reach 624MHz. As an extremely powerful ARM processor, it can be used with embedded Linux or Wince operating system. The DSP chip adopts TMS320C5000 ^TM ultra-low power consumption chip.

3G/GPRS communication module: Send statistical data to the remote server through 3G/GPRS. This module is beneficial to the subsequent expansion and use of the device. The 3G/GPRS data transmission module adopts Infineon Tech7880 chip, which can support 4 frequencies: GSM850/900/1900MHZ, the maximum downlink transmission rate is 85.6kbps, and the maximum uplink transmission rate is 42.8kbps.

Vehicle-mounted LCD module: used to display the results of the data processing module, that is, the vehicle's driving trajectory. This module makes the device highly interactive and easy to use. It can visually display the current position of the vehicle. The car LCD module uses a 7-inch LCD liquid crystal display screen.

As shown in Figure 2, the working process of the present utility model is as follows:

When the vehicle is driving on the road, the on-board power supply module supplies power to the data processing module. After the system initialization is completed, each module starts to work and the system starts to run.

1) GPS data acquisition equipment collects vehicle mileage data in real time, and the mileage data acquisition frequency is 10HZ.

2) The angular velocity gyroscope acquisition device collects the vehicle heading angle data in real time, and the gyroscope acquisition frequency is 200HZ.

2) The accelerometer acquisition device collects the vehicle heading angle data in real time, and the gyroscope acquisition frequency is 100HZ.

3) According to the real-time mileage data and heading angle data, there is a data processing module to calculate the real-time vehicle position information.

4) Display the real-time location information of the vehicle through the vehicle LCD module.

5) Send the real-time location information of the vehicle to the remote server through the 3G/GPRS communication module.

In this embodiment, measures such as stable anti-theft and impact resistance are added to the device. The odometer, gyroscope, and 3G/GPRS communication module are all integrated into the device. Linked with the device through the video data cable, the vehicle-mounted LCD module is installed in front of the driving platform.

The specific execution steps are as follows:

After the device is initialized, it enters the system scheduling process, which is to judge the next step in real time:

Judgment by GPS data acquisition equipment: yes, enter step A; otherwise, continue to judge;

Acquisition and judgment of angular velocity gyroscope: yes, go to step B; otherwise, continue to judge;

Gyroscope acquisition judgment: yes, go to step C; otherwise, continue to judge;

Judgment of data processing: yes, go to step D; otherwise, continue to judge;

3G/GPRS communication judgment: yes, go to step E; otherwise continue to judge;

System error judgment: yes, go to step F; otherwise, continue to judge;

Step A: Collect GPS data, first initialize the GPS data collection module, and use the GPS module for positioning when the GPS signal is good. When entering caves, tunnels, etc., when GPS data is wrong or missing, send a signal to start the positioning algorithm to the data processing module, and record the last good GPS data to initialize the data processing module.

Step B: collect the vehicle angular velocity data, initialize the angular velocity gyroscope acquisition module, collect the angular velocity information when the vehicle is running and send it to the data processing module to provide data support for the data processing module.

Step C: Collect vehicle specific force data, initialize the accelerometer acquisition module, collect vehicle specific force information during driving and send it to the data processing module to provide data support for the data processing module.

Step D: The data processing module (ARM processor) judges whether to start the positioning processing algorithm according to the GPS status. When the GPS data is received normally, the data is sent to the vehicle LCD module to display the vehicle position. After receiving the start signal sent by the GPS data module, acquire the angular velocity gyroscope acquisition module and the accelerometer acquisition module, and call the positioning algorithm (DSP chip) for data processing, and finally display the data on the vehicle LCD module.

Step E: 3G/GPRS communication judgment, initialize the communication module, establish a GPRS network communication mechanism, and when the data processing module correctly processes the video image data within a certain period of time, send the data to the remote server through the 3G/GPRS communication module.

Step F: Error handling. When the system makes an error, the data processing module reads the error data and performs error handling. If the processing is successful, the error is cleared. Otherwise, the device is restarted; then the device is initialized and re-enters the collection stage.

In order to ensure the security of data transmission, the data calculated by the data processing module can be encrypted and then sent through the 3G/GPRS module, and decrypted at the remote server. The ARM processor is mainly responsible for data communication, display, etc., and the processing of positioning data is located on the DSP chip.

Claims (7)

1. vehicle high-precision positioner that merges GPS, gyroscope, accelerometer, it is characterized in that, comprise gps data acquisition module, rate-of-turn gyroscope acquisition module, acceleration acquisition module, data processing module, 3G/GPRS communication module and vehicle-mounted LCD module; Wherein, the output terminal of described gps data acquisition module, rate-of-turn gyroscope acquisition module, acceleration acquisition module connects the input end of data processing module respectively, and the output terminal of data processing module connects 3G/GPRS communication module and vehicle-mounted LCD module respectively.

2. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that, described gps data acquisition module adopts Holux M-91 chip.

3. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that described rate-of-turn gyroscope acquisition module is the CMR3100-D01 angular-rate sensor.

4. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that described acceleration acquisition module adopts the YC-A150S-M acceleration transducer.

5. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that described data processing module comprises ARM11 processor and the connected dsp chip of technical grade.

6. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that, described 3G/GPRS data transmission blocks adopts Infineon Tech7880 chip.

7. the vehicle high-precision positioner of fusion GPS as claimed in claim 1, gyroscope, accelerometer is characterized in that, described vehicle-mounted LCD module adopts 7 cun LCD LCD Panel.

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