CN203232155U - High precision vehicle positioning device integrated with GPS, gyroscope and acceleration meter - Google Patents
High precision vehicle positioning device integrated with GPS, gyroscope and acceleration meter Download PDFInfo
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- CN203232155U CN203232155U CN 201320124523 CN201320124523U CN203232155U CN 203232155 U CN203232155 U CN 203232155U CN 201320124523 CN201320124523 CN 201320124523 CN 201320124523 U CN201320124523 U CN 201320124523U CN 203232155 U CN203232155 U CN 203232155U
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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
Technical field
The utility model belongs to traffic and hi-Fix field, relates to a kind of hi-Fix locating device, particularly a kind of vehicle high-precision positioner that merges odometer, gyroscope, accelerometer.
Background technology
China's highway mileage open to traffic number increases on suddenly over nearly 30 years, and by the end of the year 2011, China's highway total kilometrage reaches 8.5 ten thousand kilometers, and from now on highway construction speed and scale will continue to keep strong momentum." communications and transportation " 12 " development plan " proposes, and to " 12 " end, China country freeway net will build up substantially, and the highway total kilometrage reaches 10.8 ten thousand kilometers.Meanwhile, China's vehicle guaranteeding organic quantity constantly increases, and nearly 5 years average annual increment reaches 1,591 ten thousand, 1,773 ten thousand of annual increases in 2011.In the end of the year 2011, national vehicle guaranteeding organic quantity is 2.25 hundred million, and wherein automobile is 1.06 hundred million.Along with the raising of the level of urbanization, vehicle guaranteeding organic quantity will continue to rise.
Along with the continuous expansion of highway communication road network scale and vehicle guaranteeding organic quantity, the express way driving safety problem is increasingly serious.The frequent generation of particularly serious pernicious traffic hazard, serious harm the people life property safety, social influence and abominable has caused new social labile factor.Therefore, it is particularly important that the hi-Fix of vehicle seems, it can effectively prevent vehicle collision, reduces traffic hazard.Low (common GPS output frequency is about technological deficiency such as 1～10Hz) yet there is bearing accuracy low (normal domestic GPS bearing accuracy is 5～25 meters) in existing GPS method, has signal blind zone (as vehicle in mountainous area highway, tunnel, urban district that buildings is intensive), output frequency when carrying out vehicle location.
Therefore, at present vehicle location means deficiency, existing GPS method exist when carrying out vehicle location bearing accuracy low, have technological deficiencies such as signal blind zone, output frequency be low, be the focus that those skilled in the art pay close attention to.
Summary of the invention
At the defective that exists in the above-mentioned prior art or deficiency, the purpose of this utility model is, the vehicle high-precision positioner of a kind of GPS of fusion, gyroscope, accelerometer is provided.This device can start under the more weak situation of GPS no signal or signal automatically, uses the last accurately data of GPS to carry out initialization and corrects, and uses rate-of-turn gyroscope, accelerometer to calculate the vehicle real-time position information.
In order to realize above-mentioned technical assignment, the utility model adopts following technical solution:
A kind of vehicle high-precision positioner that merges GPS, gyroscope, accelerometer comprises 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.
The utility model also comprises following other technologies feature:
Described gps data acquisition module adopts Holux M-91 chip.
Described rate-of-turn gyroscope acquisition module is the CMR3100-D01 angular-rate sensor.
Described acceleration acquisition module adopts the YC-A150S-M acceleration transducer.
Described data processing module comprises ARM11 processor and the connected dsp chip of technical grade.
Described 3G/GPRS data transmission blocks adopts Infineon Tech7880 chip.
Described vehicle-mounted LCD module adopts 7 cun LCD LCD Panel.
The utlity model has following advantage:
1) gps data acquisition module, rate-of-turn gyroscope acquisition module, accelerometer acquisition module are gathered real-time mileage and course angle data respectively, have precision height, fast, the real-time characteristics of speed;
2) data processing module adopts arm processor and dsp chip double-core framework, has overcome the Processing tasks that traditional SCM Based data handling system can only be engaged in low rate, low precision;
3) the LCD display module shows the present position of vehicle intuitively, and the 3G/GPRS module can in time be sent to vehicle position information the remote server end simultaneously.
4) the utility model volume is little, easy to install and low in energy consumption, is fit to the installation environment of various vehicles.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is workflow diagram of the present utility model.
Below in conjunction with the drawings and specific embodiments the utility model is further explained.
Embodiment
As shown in Figure 1, the vehicle high-precision positioner of fusion GPS of the present utility model, gyroscope, accelerometer comprises 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.The vehicle power power supply that data processing module is carried by vehicle.
The function of each module and select as follows in the utility model:
Gps data acquisition module: be used for obtaining in real time Vehicle-Miles of Travel information.This module is the data basis of whole device, correctness, real-time that accurate, real-time, the stable collection of data can assurance device.The gps data acquisition module adopts Holux M-91 chip, and chip size is 13 * 15 * 2.2mm, and module sensitivity is 159dBm, satellite channel: 32 passages, and bearing accuracy:＜3m, start-up time: cold start-up: 36 seconds, warm start: 1 second, positioning time: 1 second.Its bearing accuracy is in 3 meters, and start is short averaging time, and signal cover is wide, and is low in energy consumption, and the precision height is suitable for auto navigation.
Rate-of-turn gyroscope acquisition module: be used for obtaining in real time the vehicle angular velocity information.This module is the data basis of whole device, for data processing module provides the data support.The rate-of-turn gyroscope acquisition module is the CMR3100-D01 angular-rate sensor, and its size only is 3.0x3.0x0.88mm3 analog power voltage: 1.63.6V, digital power voltage: 2.53.6V, working temperature :-40+125.Its general gyroscope has compacter size, and super low-power consumption also is one of its feature simultaneously, 2.5mA current power dissipation only, the optional bandwidth of 160HZ.
Acceleration acquisition module: be used for obtaining in real time vehicle acceleration information.This module is the data basis of whole device, for data processing module provides the data support.The acceleration acquisition module adopts the YC-A150S-M acceleration transducer, is 12V DC at supply voltage, under the test condition that temperature is 25 ℃, and sensitivity 150mV/g, zero point, temperature was floated ± 1.0mg/ ℃.Need not to demarcate is interchangeable use, have the response time fast, measure accurately, reliability is high, stability is strong, volume is little and characteristics such as low in energy consumption.
Data processing module: be used for carrying out the infinitesimal analysis computing according to the last precision data of GPS, vehicle real time acceleration, real-time course angle, it is relative to obtain vehicle; The core of the whole device of this module, colleges and universities, that data processing algorithm can make device accurately, timely is practical.Data processing module comprises ARM11 processor P XA270 chip and the connected dsp chip of technical grade.Be dual-core architecture.ARM11 processor P XA270 chip is based on the Xscale core of ARMv5E, and highest frequency can reach 624MHz, and as the extremely powerful arm processor of a performance, matching embedded type Linux or Wince operating system are used.Dsp chip adopts TMS320C5000
TMThe super low-power consumption chip.
The 3G/GPRS communication module: by the 3G/GPRS mode statistics is sent to the remote server end, this module is conducive to subsequent expansion and the use of device.The 3G/GPRS data transmission blocks adopts Infineon Tech7880 chip, can support 4 frequently: GSM850/900/1900MHZ, and the maximum downstream transfer rate is 85.6kbps, maximum uplink speed is 42.8kbps.
Vehicle-mounted LCD module: be used for to show the data processing module result, i.e. vehicle driving trace, this module makes that the interpersonal interactivity of device is strong, is easy to use.Can show the vehicle current location intuitively.Vehicle-mounted LCD module adopts 7 cun LCD LCD Panel.
As shown in Figure 2, workflow of the present utility model is as follows:
Vehicle travels on highway, and the vehicle power module is the data processing module power supply, and after system initialization was finished, each module was started working, and system brings into operation.
1) the real-time collection vehicle mileage of gps data collecting device, the mileage frequency acquisition is 10HZ.
2) the real-time collection vehicle course angle of rate-of-turn gyroscope collecting device data, the gyroscope frequency acquisition is 200HZ.
2) the real-time collection vehicle course angle of accelerometer collecting device data, the gyroscope frequency acquisition is 100HZ.
3) according to real-time mileage and course angle data, data processing module is arranged, calculate the real-time vehicle positional information.
4) show the vehicle real-time position information by vehicle-mounted LCD module.
5) by the 3G/GPRS communication module vehicle real-time position information is sent to remote server.
In the present embodiment, device is added measures such as firm antitheft and shock resistance, odometer, gyroscope, 3G/GPRS communication module are integrated inner with device respectively, device is installed on by the bridge, vehicle-mounted LCD module is installed on outside the device, link by video data line and device, before vehicle-mounted LCD module is installed in bridge.
Concrete execution in step is as follows:
Device enters the system call process after the initialization, just next step execution in step of real-time judge:
The gps data collecting device is judged: be to enter steps A; Otherwise continue to judge;
The rate-of-turn gyroscope collection is judged: be to enter step B; Otherwise continue to judge;
The gyroscope collection is judged: be to enter step C; Otherwise continue to judge;
Data are handled and are judged: be to enter step D; Otherwise continue to judge;
The 3G/GPRS judgement of communicating by letter: be to enter step e; Otherwise continue to judge;
System goes out misinterpretation: be to enter step F; Otherwise continue to judge;
Steps A: gather gps data, at first initialization gps data acquisition module under the gps signal good situations, uses the GPS module to position.Entering under the situations such as cavern, tunnel, when gps data mistake or disappearance, send startup location algorithm signal to data processing module, and the last good data of record GPS is being with the initialization data processing module.
Step B: the collection vehicle angular velocity data, initialization rate-of-turn gyroscope acquisition module, travel hour angle rate information and be sent to data processing module of collection vehicle is for data processing module provides the data support.
Step C: collection vehicle is than force data, initialization accelerometer acquisition module, when collection vehicle is travelled than force information and be sent to data processing module, for data processing module provides the data support.
Step D: data processing module (arm processor) judges whether to start the localization process algorithm according to the GPS state.When gps data receives just often, these data are sent on the vehicle-mounted LCD module to show vehicle location.After receiving the enabling signal that the gps data module sends, obtain rate-of-turn gyroscope acquisition module and accelerometer acquisition module module, and call location algorithm (dsp chip) and carry out the data processing, these data show to vehicle-mounted LCD module the most at last.
Step e: the 3G/GPRS judgement of communicating by letter, this communication module of initialization is set up the GPRS network communication mechanism, after data processing module is correctly finished dealing with certain cycle time inner video image data, by the 3G/GPRS communication module data is sent to remote server.
Step F: mistake is handled, and when system makes mistakes, data processing module reads error data, and carries out mistake processing, if handle successfully, then removes mistake, restarts otherwise carry out device; Install initialization then, reenter acquisition phase.
For the security that guarantees that data transmit, send by the 3G/GPRS module again after the data encryption that data processing module can be calculated, and decipher at the remote server place.Arm processor mainly is responsible for data communication, demonstration etc., and the processing of locator data is positioned 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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| CN 201320124523 CN203232155U (en) | 2013-03-19 | 2013-03-19 | High precision vehicle positioning device integrated with GPS, gyroscope and acceleration meter |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048663A (en) * | 2014-04-25 | 2014-09-17 | 惠州华阳通用电子有限公司 | Vehicular inertial navigation system and navigation method |
| CN104195930A (en) * | 2014-08-26 | 2014-12-10 | 长安大学 | System and method for detecting pavement evenness based on multiple sensors |
| CN106249268A (en) * | 2016-08-24 | 2016-12-21 | 南昌大学 | The Exact Location Method of running automobile in a kind of tunnel |
| CN106324645A (en) * | 2016-08-19 | 2017-01-11 | 付寅飞 | Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning |
| CN106840155A (en) * | 2017-03-23 | 2017-06-13 | 天津大学 | MHD angular-rate sensors and high accuracy gyroscope instrument combination measurement method |
-
2013
- 2013-03-19 CN CN 201320124523 patent/CN203232155U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048663A (en) * | 2014-04-25 | 2014-09-17 | 惠州华阳通用电子有限公司 | Vehicular inertial navigation system and navigation method |
| CN104195930A (en) * | 2014-08-26 | 2014-12-10 | 长安大学 | System and method for detecting pavement evenness based on multiple sensors |
| CN106324645A (en) * | 2016-08-19 | 2017-01-11 | 付寅飞 | Vehicle accuracy positioning method based on inertial navigation and satellite differential positioning |
| CN106249268A (en) * | 2016-08-24 | 2016-12-21 | 南昌大学 | The Exact Location Method of running automobile in a kind of tunnel |
| CN106840155A (en) * | 2017-03-23 | 2017-06-13 | 天津大学 | MHD angular-rate sensors and high accuracy gyroscope instrument combination measurement method |
| CN106840155B (en) * | 2017-03-23 | 2020-02-21 | 天津大学 | MHD angular velocity sensor and high-precision gyroscope combined measuring method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131009 Termination date: 20160319 |