CN207502737U - It is a kind of that there is the car-mounted terminal of Tail gas measuring - Google Patents
It is a kind of that there is the car-mounted terminal of Tail gas measuring Download PDFInfo
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- CN207502737U CN207502737U CN201721758214.0U CN201721758214U CN207502737U CN 207502737 U CN207502737 U CN 207502737U CN 201721758214 U CN201721758214 U CN 201721758214U CN 207502737 U CN207502737 U CN 207502737U
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Abstract
There is the car-mounted terminal of Tail gas measuring the utility model is related to a kind of, including host microprocessors, integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, Tail gas measuring module is mounted on automobile exhaust pipe；Photographing module includes camera shooting microprocessor, LCD master control borads, camera shooting memory module and two video cameras, camera shooting microprocessor connects host microprocessors by USB data line, video camera obtains vehicle-surroundings image, and camera shooting microprocessor carries out image Compression and is stored in camera shooting memory module.The car-mounted terminal of the utility model has the function of video surveillance, data acquisition, space-time and athletic posture report, Tail gas measuring etc., improve the safety of vehicle, and a large amount of authentic and valid data are provided for government, by the Tail gas measuring to vehicle, citywide tail gas distributed data is provided for government.
Description
Technical field
The utility model is related to technical field of vehicle safety, and in particular to a kind of to have the function of the vehicle-mounted end of Tail gas measuring
End.
Background technology
With the development of society, in order to meet scientific dispatch and management, traffic and safety, vehicle use and maintaining,
Energy-saving and environment-friendly requirement is adapted to, meet the demands such as settlement of insurance claim and is carried for government decision and units concerned, personal respective service
For data support, it is more and more stronger for the monitoring demand of vehicle, but current monitoring system can not all meet it is growing
Demand.
Utility model content
There is the car-mounted terminal of Tail gas measuring the purpose of this utility model is to provide a kind of, to solve existing vehicle
Monitoring system functional is single, can not meet the problem of the needs of growing.
To achieve the above object, specifically, the car-mounted terminal that should have the function of Tail gas measuring includes host microprocessors, group
Close locating module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, the group
Close locating module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module and host
Microprocessor connects；
The Tail gas measuring module is mounted on automobile exhaust pipe；
The photographing module includes camera shooting microprocessor, LCD master control borads, camera shooting memory module and two video cameras, takes the photograph
Picture microprocessor connects host microprocessors by USB data line, and LCD master control borads, camera shooting memory module and two video cameras are equal
It is connect with camera shooting microprocessor, video camera obtains vehicle-surroundings image, and camera shooting microprocessor carries out image Compression and stores
In memory module is imaged.
The video camera is ultra wide-angle imaging machine.
The car-mounted terminal further includes alarm, outer memory module and OBD interfaces, alarm, outer memory module and
OBD interfaces are connect with host microprocessors；
The outer memory module is used to store the data of Tail gas measuring module；
The host microprocessors are connect by OBD interfaces with automobile circuit, and data are read by OBD interfaces.
The wireless communication module is based on cellular narrowband Internet of Things (Narrow Band Internet of
Things,NB-IoT)。
The integrated positioning module includes satellite positioning navigation module and inertial navigation module.
The satellite positioning navigation module is BD/GPS compatible modules.
The camera shooting memory module is TF card.
The host microprocessors connect center monitoring platform by NB-IoT modules.
The integrated positioning module includes satellite positioning navigation module and inertial navigation module；
It is described that detection method includes the following steps：
The data that Tail gas measuring module and photographing module are detected are sent to by host microprocessors by NB-IoT modules
Center monitoring platform, while the position of the positioning vehicle-carried terminal of integrated positioning module and pass through NB-IoT modules and be sent to center monitoring
Platform；
The position of the positioning vehicle-carried terminal of integrated positioning module specifically includes following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal noise
Carrier phase tracking loop bandwidth is reduced during than reducing, improving the anti-noise jamming ability of receiver；
S2, the adaptive Kalman filtering Integrated Navigation Algorithm of noise model is measured using based on fuzzy inference system,
Description measures noise variation, and adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.
The step S1 is as follows：
S101, signal-to-noise ratio C/N0 is calculated according to the transformed GPS digital signals of downconverted and digital-to-analogue, formula is as follows：
Wherein：
A is GPS signal amplitude in upper two formula, MEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntDuring for integration
Between.
S102, Fuzzy control system is established, using C/N0 as input, using GPS tracking loops bandwidth as output, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realize carrier loop band
Wide adaptive adjustment improves GPS or triones navigation system noise antijamming capability.
Wherein, the S2 is as follows：
S201, the new breath for calculating Thalmann filter, such as formula (4)
Wherein, zkFor practical measurement, HkFor measurement matrix,Primary estimation for system mode.
S202, the theoretical variance of new breath is calculated, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease can be calculated by new breath vector N number of recently, be represented with formula (6)：
S204, new breath realized variance and the ratio of theoretical variance are calculated.Due toWithDiagonal matrix both is set to, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, newly to cease the ratio of realized variance and theoretical variance as fuzzy inference system
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model becomes smaller；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance increase, the correction factor for measuring noise model becomes larger.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
Further, the Tail gas measuring module is detected by the sensor being mounted on automobile exhaust pipe, detection
The pernicious gases such as the CO gone out transfer data to host microprocessors by CAN2.0, and host microprocessors carry out data storage
Backup, then data are passed to center monitoring platform by module by radio communication.
The utility model has the following advantages that：
1st, the car-mounted terminal of the utility model has the function of Tail gas measuring, by the Tail gas measuring to vehicle, is carried for government
For a citywide tail gas distribution, a large amount of authentic and valid data are provided to government, in this manner it is possible to pass through the history number to vehicle
Behavioural analysis is carried out to each user according to the operation data with users, reduces the generation of accident, reduces wrong report, the row for deceiving report
For, and provide authentic data for governance traffic, formulation road administration planning.
2nd, there is video surveillance, when accident occurs, system and vehicle all can automatic alarm, by the accurate of vehicle
Positioning provides a large amount of authentic and valid data to government, and traffic balanced can utilize；By the monitoring camera-shooting to the scene of the accident, go back
The former scene of the accident provides the foundation of identification for insurance company.
3rd, the utility model also has the function of video surveillance, data acquisition, athletic posture report etc., improves the safety of vehicle
Property.
4th, satellite navigation and inertial navigation system carry out entirely autonomous fusion, realize integrated positioning, complement one another, greatly
Raising positioning reliability.
5th, the detection method of the utility model is accurately positioned using integrated positioning module, so as to provide more accurately
Tail gas distributed data.
Description of the drawings
Fig. 1 is the structure diagram of the utility model embodiment 1.
Fig. 2 is the method schematic diagram of the position of the positioning vehicle-carried terminal of the utility model integrated positioning module.
Fig. 3 for receiver make an uproar than with bandwidth relationship.
Fig. 4 is conventional method and novel method noise model comparing result.
Fig. 5 is conventional method and novel method navigation accuracy comparing result.
Fig. 6 is the structure diagram of the utility model embodiment 2.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
Referring to Fig. 1, the car-mounted terminal that should have the function of Tail gas measuring includes host microprocessors, integrated positioning module, nothing
Line communication module, data memory module, power module, Tail gas measuring module and photographing module, the integrated positioning module, nothing
Line communication module, data memory module, power module, Tail gas measuring module and photographing module are connect with host microprocessors；
Tail gas measuring module is mounted on automobile exhaust pipe.
The camera shooting microprocessor connects host microprocessors by USB data line, and photographing module includes camera shooting microprocessor
Device, LCD master control borads, camera shooting memory module and two ultra wide-angle imaging machines, LCD master control borads, camera shooting memory module and two are super
Wide angle cameras is connect with camera shooting microprocessor, and ultra wide-angle imaging machine obtains vehicle-surroundings image, and camera shooting microprocessor carries out
Image Compression stores.
Wireless communication module in the present embodiment can with but be not limited to the digital networks such as 2G, 3G, 4G, more preferably
Wireless communication module is used as based on cellular narrowband Internet of Things (Narrow Band Internet of Things, NB-
IoT)。
The integrated positioning module is satellite positioning module and inertial navigation module.Satellite navigation and inertial navigation system into
The entirely autonomous fusion of row, realizes integrated positioning, complements one another, and greatly improves the reliability of positioning.Satellite positioning module is excellent
It is selected as BD/GPS compatible modules.
Module upload the data to center monitoring platform to car-mounted terminal by radio communication, and center monitoring platform receives terminal
After the information such as positioning, speed, posture, tail gas, the position of real-time display vehicle and tail gas distribution situation, and store the operation of vehicle
Track and the playback for carrying out historical track.For the vehicle of emphasis, such as in danger or alarm vehicle can be in centrally disposed, progress
Real-time tracking.
Further, Tail gas measuring module is detected by the sensor being mounted on automobile exhaust pipe, is detected
The pernicious gases such as CO transfer data to host microprocessors by CAN2.0, and host microprocessors carry out data backup memory,
Data are passed to by center monitoring platform by mobile communications network again.
Detection method includes the following steps for car owner's terminal：
The data that Tail gas measuring module and photographing module are detected are sent to by host microprocessors by NB-IoT modules
Center monitoring platform, while the position of the positioning vehicle-carried terminal of integrated positioning module and pass through NB-IoT modules and be sent to center monitoring
Platform；
Referring to Fig. 2, the method for the position of the positioning vehicle-carried terminal of integrated positioning module specifically includes following steps：
S1, the carrier phase tracking circuit using the bandwidth self-adaption based on fuzzy inference system, when satellite-signal noise
Carrier phase tracking loop bandwidth is reduced during than reducing, improving the anti-noise jamming ability of receiver；To satellite signal receiver
Bandwidth self-adaption adjusts, and is realized by the fuzzy inference system that the signal-to-noise ratio (i.e. C/N0) with satellite-signal is input.If
Signal-to-noise ratio reduces, and illustrates that noise becomes larger, to obtain better filter effect, i.e., more the bandwidth of phase lock loop of satellite receiver should reduce
Strong anti-noise jamming ability；If signal-to-noise ratio increases, illustrate that noise becomes smaller, to obtain better dynamic property, satellite receiver
Bandwidth of phase lock loop should accordingly improve.Due between signal-to-noise ratio and bandwidth without specific mathematical relationship, and different noises, difference
Bandwidth of phase lock loop does not have unique optimal value under dynamic condition, therefore from simplifying Adjustment principle, improving robustness angle, is suitable for
Receiver bandwidth of phase lock loop is adjusted using fuzzy inference system.It is as follows：
S201, signal-to-noise ratio C/N0 is calculated according to the transformed GPS digital signals of downconverted and digital-to-analogue, formula is as follows：
Wherein：
A is GPS signal amplitude in upper two formula, MEIt is integrating meter numerical value, δiqFor signal noise standard deviation, TIntDuring for integration
Between.
S202, Fuzzy control system is established, using C/N0 as input, using GPS tracking loops bandwidth as output, using such as lower die
Paste inference rule：
(1) if signal-to-noise ratio is less than 30dB, phase-locked loop width；
(2) if signal-to-noise ratio is 30~40dB, bandwidth of phase lock loop is moderate；
(3) if signal-to-noise ratio is higher than 40dB, phase-locked loop is wide；
Fuzzy control system is currently exported as carrier phase tracking loop band width values next time, realize carrier loop band
Wide adaptive adjustment improves GPS or triones navigation system noise antijamming capability.
The input C/N0 of fuzzy inference system is tracking result (the same phase generated according to receiver " integration-clearing " process
Signal and orthogonal signalling), it is calculated using " variance summation algorithm (VSM) ".
S2, the adaptive Kalman filtering Integrated Navigation Algorithm of noise model is measured using based on fuzzy inference system,
Description measures noise variation, and adjustment in real time measures noise variance matrix, improves Integrated Navigation Algorithm anti-noise jamming ability.Measurement is made an uproar
The basic principle of acoustic model adjustment is so that the new breath variance of the theory of Kalman filter is consistent with practical new breath variance.Specific step
It is rapid as follows：
S201, the new breath for calculating Thalmann filter, new breath refer to predict that measurement is measured with practical in Kalman filter
The difference of amount, such as formula (4)
Wherein, zkFor practical measurement, HkFor measurement matrix,Primary estimation for system mode.
S202, new breath show Kalman filtering algorithm state：If system mode models and measurement matrix is correct, and is
System noise and measurement noise model are accurate, and Kalman filtering is normal, then new breath should be the white noise of zero-mean, and calculating is new to cease reason
By variance, can be calculated by formula (5)：
Wherein Fk/k-1For systematic state transfer matrix, Pk-1For estimated state variance matrix, Qk-1For system noise acoustic matrix, Rk-1For
Measure noise battle array.
The realized variance that S203, calculating newly cease can be calculated by new breath vector N number of recently, be represented with formula (6)：
S204, new breath realized variance and the ratio of theoretical variance are calculated.Due toWithDiagonal matrix both is set to, because
This ratio is also diagonal matrix：
S205, design fuzzy inference system, newly to cease the ratio of realized variance and theoretical variance as fuzzy inference system
Input, to measure the correction factor of noise model as the output of fuzzy inference system, fuzzy inference rule has following three：
(1) if newly breath realized variance and the ratio of theoretical variance are lower, the correction factor for measuring noise model becomes smaller；
(2) if newly breath realized variance and the ratio of theoretical variance are constant (for 1), the correction factor of noise model is measured
Constant (for 1)；
(3) if newly breath realized variance and the ratio of theoretical variance increase, the correction factor for measuring noise model becomes larger.
If Kalman filter is working properly, then new breath and realized variance and theoretical variance should be consistent.If
Deviation occurs for theoretical variance and realized variance, then illustrates that there are errors in computation for theoretical variance, reason may be system model mistake or
Noise model is inaccurate.
In general, Fk/k-1、Pk-1And Qk-1All be easy to get or measure and accuracy is higher, and measures noise battle array Rk-1
It is then to change with noise variation is measured, may changes in varied situations more violent.To satellite and inertia combined navigation system
For system, measurement can be the pseudorange and pseudorange rates of all visible satellites, and wherein pseudorange rates are obtained by phaselocked loop, if satellite is believed
Number noise changes greatly, and pseudorange rates noise can also change, and will correct measure noise battle array R at this timek-1。
When pseudorange rates noise changes, the realized variance newly ceased understands respective change, thus can be according to theoretical variance
Difference amendment with realized variance measures noise model Rk-1, so as to fulfill adaptive Kalman filter algorithm, i.e. real-time online is repaiied
It is positive to measure noise model.
Adaptive Kalman filter algorithm based on fuzzy inference system can ensure that integrated navigation system is measuring noise
It is still accurate that noise model is measured in the case of changing greatly, and system state estimation value is still optimal.
Referring to Fig. 3, it is proof scheme validity, noise was artificially added at the 20th second so that signal-to-noise ratio becomes from 45dB-Hz
For 25dB-Hz, when 30s, slowly gos up again, until 45dB-Hz.It will be seen from figure 1 that bandwidth of phase lock loop when signal-to-noise ratio reduces
It is reduced rapidly, so as to enhance receiver noise antijamming capability.
Referring to Fig. 4, upper figure is to measure the comparison of noise criteria difference, and figure below is theoretical new breath variance and practical new breath variance ratio
Comparing result.It can be seen from the figure that the utility model proposes system schema can to measure noise model carry out it is online
Adjustment so that theoretical new breath variance is always 1 (i.e. 0dB) with practical new breath variance ratio, and legacy system then can not adjustment amount
Survey noise model, noise change stylish breath variance with practical new breath variance ratio variation up to 20dB.
Referring to Fig. 5, from the graph, it is apparent that (the 20s- when satellite-signal signal-to-noise ratio is relatively low apparent with noise variation
35s), the navigation accuracy of integrated navigation module is substantially better than conventional combination navigation system.
The utility model is combined by fuzzy self-adaption bandwidth of phase lock loop with Fuzzy Adaptive Kalman Filtering algorithm, is made
It obtains integrated navigation system noise resisting ability to be remarkably reinforced, in the case where satellite-signal signal-to-noise ratio is relatively low and noise changes greatly still
The navigation of degree of precision can be kept to export, the visible Figure of description 3~5 of comparing result figure.
Embodiment 2
It is a kind of structural representation of car-mounted terminal embodiment 2 with Tail gas measuring of the utility model referring to Fig. 6
Figure, the utility model is a kind of to have the function of the car-mounted terminal of Tail gas measuring on the basis of Fig. 1, and terminal device further can be with
Including alarm, outer memory module, OBD interfaces.Alarm, outer memory module and OBD interfaces are and host microprocessors
Connection.
The outer memory module is used to store the data of Tail gas measuring module.
There are OBD (On-Board Diagnostic " onboard diagnostic system ") interface, host microprocessors for the car-mounted terminal
Device is connect by OBD interfaces with automobile circuit, and data are read by OBD.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, the these modifications or improvements on the basis of without departing from the spirit of the present invention, belonging to the utility model will
Seek the range of protection.
Claims (8)
1. a kind of have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The car-mounted terminal include host microprocessors,
Integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module, it is described
Integrated positioning module, wireless communication module, data memory module, power module, Tail gas measuring module and photographing module with master
Machine microprocessor connects；
The Tail gas measuring module is mounted on automobile exhaust pipe；
The photographing module includes camera shooting microprocessor, LCD master control borads, camera shooting memory module and two video cameras, and camera shooting is micro-
Processor connects host microprocessors by USB data line, and LCD master control borads, camera shooting memory module and two video cameras are with taking the photograph
As microprocessor connection, video camera obtains vehicle-surroundings image, and camera shooting microprocessor carries out image Compression and be stored in take the photograph
As in memory module.
2. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The video camera is super
Wide angle cameras.
3. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The car-mounted terminal is also
Including alarm, outer memory module and OBD interfaces, alarm, outer memory module and OBD interfaces are and host microprocessors
Connection；
The outer memory module is used to store the data of Tail gas measuring module；
The host microprocessors are connect by OBD interfaces with automobile circuit, and data are read by OBD interfaces.
4. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The radio communication mold
Block is based on cellular narrowband Internet of Things.
5. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The integrated positioning mould
Block includes satellite positioning navigation module and inertial navigation module.
6. according to claim 5 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The satellite positioning is led
Model plane block is BD/GPS compatible modules.
7. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The camera shooting storage mould
Block is TF card.
8. according to claim 1 have the function of the car-mounted terminal of Tail gas measuring, it is characterised in that：The host microprocessor
Device connects center monitoring platform by NB-IoT modules.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721758214.0U CN207502737U (en) | 2017-12-15 | 2017-12-15 | It is a kind of that there is the car-mounted terminal of Tail gas measuring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721758214.0U CN207502737U (en) | 2017-12-15 | 2017-12-15 | It is a kind of that there is the car-mounted terminal of Tail gas measuring |
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| CN207502737U true CN207502737U (en) | 2018-06-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907899A (en) * | 2017-12-15 | 2018-04-13 | 北斗时空物联网（北京）股份有限公司 | It is a kind of that there is the car-mounted terminal of Tail gas measuring and its detection method |
-
2017
- 2017-12-15 CN CN201721758214.0U patent/CN207502737U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907899A (en) * | 2017-12-15 | 2018-04-13 | 北斗时空物联网（北京）股份有限公司 | It is a kind of that there is the car-mounted terminal of Tail gas measuring and its detection method |
| CN107907899B (en) * | 2017-12-15 | 2024-04-12 | 深邦智能科技集团(青岛)有限公司 | Vehicle-mounted terminal with tail gas detection function and detection method thereof |
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Granted publication date: 20180615 Termination date: 20211215 |