CN219284303U - High-precision positioning vehicle-mounted wireless terminal and vehicle - Google Patents

Abstract

The application discloses on-vehicle wireless terminal of high accuracy location and vehicle, on-vehicle wireless terminal of high accuracy location includes: the system comprises a global navigation satellite system positioning module, a communication module, an inertial measurement unit and a first micro control unit, wherein the global navigation satellite system positioning module is used for acquiring original positioning data; the communication module is electrically connected with the global navigation satellite system positioning module and is used for obtaining first coordinate information based on the original positioning number; the inertia measurement unit is used for acquiring second coordinate information of the vehicle; the first micro-control unit is electrically connected with the communication module and the inertia measurement unit respectively and is used for obtaining positioning data information of the vehicle based on the first coordinate information and the second coordinate information. Therefore, the high-precision positioning performance is realized through the high-precision positioning vehicle-mounted wireless terminal, the positioning device is not required to be additionally configured, the risk of data transmission loss is reduced, and the use cost is also reduced.

Description

High-precision positioning vehicle-mounted wireless terminal and vehicle

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a high-precision positioning vehicle-mounted wireless terminal and a vehicle.

Background

With the development of vehicle information technology, the intelligent degree of automobiles is higher and higher. A vehicle-mounted wireless Terminal (TBOX) is used as a core component of an automobile, and CAN provide GPS/Beidou satellite positioning, digital mobile communication and data information such as a vehicle engine electronic control unit (Electronic Control Unit, ECU), a vehicle body central controller CAN bus and the like.

However, the Positioning accuracy of the vehicle-mounted TBOX in the prior art is not high, and the Positioning requirement in a changeable environment during the daily vehicle driving cannot be met, in order to meet the requirement of domain control high-accuracy fusion Positioning, a mode of additionally configuring a high-accuracy combined Positioning system (PBOX) is adopted at present, the PBOX is utilized to realize the collection processing of Positioning information, and the final Positioning information is output to a domain controller. However, by configuring the PBOX, the data transmission link is long, the risk of data loss is large, and the use cost is increased.

Disclosure of Invention

The application aims to provide a high-precision positioning vehicle-mounted wireless terminal and a vehicle, at least solve one of the problems that the vehicle-mounted TBOX in the prior art cannot meet the high-precision positioning requirement, and an additional PBOX configuration mode is needed, so that a data transmission link is long, the risk of data loss is high, and the use cost is increased

In order to solve the technical problems, the application is realized as follows:

in a first aspect, an embodiment of the present application provides a high-precision positioning vehicle-mounted wireless terminal, including:

the global navigation satellite system positioning module is used for acquiring original positioning data;

the communication module is electrically connected with the global navigation satellite system positioning module and is used for obtaining first coordinate information based on the original positioning number;

the inertial measurement unit is used for acquiring second coordinate information of the vehicle;

the first micro-control unit is electrically connected with the communication module and the inertia measurement unit respectively and is used for obtaining positioning data information of the vehicle based on the first coordinate information and the second coordinate information.

Optionally, the communication module includes: a data receiving module and a data correcting module;

the data receiving module is electrically connected with the global navigation satellite system positioning module and is used for receiving the original positioning data;

the data correction module is electrically connected with the data receiving module and is used for correcting the original positioning data to obtain the first coordinate information;

the first micro-control unit is electrically connected with the data correction module, and the first micro-control unit is used for obtaining the positioning data information according to the first coordinate information and the second coordinate information.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further includes: the embedded user identification module is used for acquiring differential correction data;

the embedded user identification module is electrically connected with the data correction module, and the data correction module is further used for obtaining the first coordinate information based on the original positioning data and the differential correction data.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further comprises a plurality of embedded subscriber identification modules, wherein a first embedded subscriber identification module in the plurality of embedded subscriber identification modules is electrically connected with the data correction module and is used for obtaining differential correction data; the data correction module is further used for obtaining the first coordinate information based on the original positioning data and the differential correction data;

and a second embedded subscriber identity module except the first embedded subscriber identity module in the plurality of embedded subscriber identity modules is electrically connected with the communication module.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further includes: the second micro-control unit is used for acquiring vehicle information of the vehicle;

the second micro control unit is electrically connected with the first micro control unit and the communication module respectively, and the first micro control unit is further used for correcting the positioning data information based on the vehicle information.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further includes: a controller area network;

the first micro control unit is electrically connected with the controller area network, and the controller area network is used for outputting the positioning data information to an external controller.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further includes: a built-in positioning antenna and an antenna change-over switch;

the built-in positioning antenna is electrically connected with the antenna change-over switch, and the antenna change-over switch is electrically connected with the global navigation satellite system positioning module.

Optionally, the high-precision positioning vehicle-mounted wireless terminal further includes: a power module;

the power module is electrically connected with the second micro-control unit, and the second micro-control unit is also used for controlling the power supply of the power module.

Optionally, the global navigation satellite system positioning module is a dual-frequency global navigation satellite system positioning module.

In a second aspect, an embodiment of the present application proposes a vehicle, including the high-precision positioning vehicle-mounted wireless terminal described in any one of the above embodiments.

In an embodiment of the present application, a high-precision positioning vehicle-mounted wireless terminal includes: the global navigation satellite system positioning module is used for acquiring original positioning data; the communication module is electrically connected with the global navigation satellite system positioning module and is used for obtaining first coordinate information based on the original positioning number; the inertial measurement unit is used for acquiring second coordinate information of the vehicle; and the first micro control unit is respectively and electrically connected with the communication module and the inertia measurement unit and is used for obtaining the positioning data information of the vehicle based on the first coordinate information and the second coordinate information. By adopting the high-precision positioning vehicle-mounted wireless terminal, satellite positioning information sent by various satellites can be received through the global navigation satellite system positioning module, the received satellite positioning information is resolved to obtain original positioning data, the communication module is utilized to process the original positioning data to obtain first coordinate information of a vehicle, meanwhile, second coordinate information such as acceleration and angular velocity of the vehicle can be obtained through the inertial measurement unit, and then the first coordinate information and the second coordinate information are fused by the first micro control unit to obtain vehicle positioning information with higher precision, so that the positioning function with higher precision can be realized through the vehicle-mounted wireless terminal, an additional configuration positioning device is not needed, the risk of losing data transmission is reduced, and the use cost is also reduced.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of a framework for high precision positioning of a vehicle-mounted TBOX in accordance with an embodiment of the present application;

FIG. 2 is a schematic diagram of a framework for another high precision positioning vehicle-mounted TBOX in accordance with an embodiment of the present application;

FIG. 3 is a schematic diagram of a framework for yet another high precision positioning vehicle-mounted TBOX in accordance with an embodiment of the present application;

FIG. 4 is a schematic diagram of a communication architecture of a high-precision positioning onboard TBOX with an external controller in accordance with an embodiment of the present application;

fig. 5 is a schematic diagram of a communication architecture for locating a TBOX on-board with an external controller according to high accuracy in the related art.

Reference numerals:

10. a global navigation satellite system positioning module (GNSS positioning module); 11. a communication module; 111. a data receiving module; 112. a data correction module; 12. an Inertial Measurement Unit (IMU); 13. a first micro control unit (first MCU); 14. an embedded subscriber identity module (eSIM card); 141. a first embedded subscriber identity module (first eSIM card); 142. a second embedded subscriber identity module (second eSIM card); 16. a second micro control unit (second MCU); 17. a Controller Area Network (CAN); 18. a built-in positioning antenna; 19. an antenna changeover switch; 20. a power module; 21. an external controller.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functionality throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The features of the terms "first", "second", and the like in the description and in the claims of this application may be used for descriptive or implicit inclusion of one or more such features. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Before explaining the high-precision positioning vehicle-mounted wireless terminal and the vehicle provided by the embodiment of the application, specific explanation is made on application scenes of the high-precision positioning vehicle-mounted wireless terminal and the vehicle provided by the embodiment of the application:

in a conventional vehicle positioning system, a vehicle-mounted TBOX cannot meet the requirement of high-precision positioning, and PBOX is usually required to be additionally configured for the TBOX, so that the collection processing of positioning information is realized by utilizing the PBOX. As shown in fig. 4, in the conventional vehicle positioning system, the data transmission path is: the TBOX transmits data to the PBOX through the gateway, positioning data obtained through PBOX processing is transmitted to an external controller through the gateway, so that a topological network of the vehicle is relatively complex, a data transmission link is long, and the risk of data loss is high. At the same time, the additional configuration of PBOX also increases the production costs of the vehicle.

Based on the above problems, the embodiments of the present application provide a high-precision positioning vehicle-mounted TBOX and a vehicle, so as to at least solve the problems of low positioning precision of the vehicle-mounted TBOX in the related art, long data transmission link, high risk of data loss and increased use cost due to the adoption of the PBOX configuration method.

Term interpretation:

TBOX: a vehicle-mounted wireless terminal;

PBOX: a high-precision combined positioning system;

NAD: network Access Device, network access device;

MCU: microcontroller Unit, a micro control unit;

AP: application Processor, an application processor;

CAN: controller Area Network, a controller area network;

eMMC: embedded Multimedia Card, an embedded multimedia card;

IMU: inertial Measurement Unit, an inertial measurement unit;

HSM: hardware security module, a hardware security module;

RTC: real-Time Clock, real-Time Clock;

and (3) GNSS: global Navigation Satellite System, global navigation satellite system;

eSIM: embedded Subscriber Identity Module an embedded subscriber identity module, also called a patch type SIM card;

DR: dead Reckoning, dead Reckoning;

RTK: real-time kinetic, real-time dynamic positioning;

KL30: a battery supply voltage;

KL15: a pointing fire signal;

sensor: a gravity sensor;

PA: a Power Amplifier, an audio Power Amplifier;

coding: a Coder-Decoder, an audio codec;

PHY: port Physical Layer, physical interface transceiver;

MIC: microphone, microphone.

The high-precision positioning vehicle-mounted wireless terminal and the vehicle provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.

As shown in fig. 1, a high accuracy positioning vehicle TBOX according to some embodiments of the present application includes: the GNSS positioning module 10, the communication module 11, the IMU12 and the first MCU13, wherein the GNSS positioning module 10 is used for acquiring original positioning data; the communication module is electrically connected with the GNSS positioning module 10 and is used for obtaining first coordinate information based on the original positioning number; the IMU12 is configured to acquire second coordinate information of the vehicle; the first MCU13 is electrically connected with the communication module 11 and the IMU12 respectively, and the first MCU13 is used for obtaining positioning data information of the vehicle based on the first coordinate information and the second coordinate information.

In this embodiment of the present application, through setting up GNSS positioning module 10 in the on-vehicle TBOX of high accuracy location to acquire original positioning data, and transmit original positioning data to communication module 11, communication module 11 obtains first coordinate information based on original positioning number, and transmits first coordinate information to first MCU13, still is equipped with IMU12 in the on-vehicle TBOX of high accuracy location, acquires the second coordinate information of vehicle through IMU12, and transmits the second coordinate information to first MCU13, and first MCU13 can obtain the positioning data information of vehicle according to first coordinate information and second coordinate information. Therefore, vehicle positioning information with higher precision can be directly obtained through high-precision positioning of the vehicle-mounted TBOX without additionally configuring a positioning device, so that the risk of data transmission loss is reduced, and the use cost is also reduced.

Specifically, the high-precision positioning vehicle-mounted TBOX in the embodiment of the present application may include a communication module 11 and a GNSS positioning module 10, where the GNSS positioning module 10 is electrically connected to the communication module 11, and the GNSS positioning module 10 may acquire original positioning data of the vehicle and transmit the acquired original positioning data to the communication module 11.

In some embodiments, the GNSS positioning module 10 may support a Position, velocity, and Time (PVT) solution technique, and the GNSS positioning module 10 may receive satellite positioning information and perform a solution process on the received satellite positioning information by the PVT solution technique to obtain original positioning data of the vehicle. The satellite positioning information may include satellite observations, satellite ephemeris, and the like.

In some embodiments, the letter module supports RTK resolution techniques. The GNSS positioning module 10 sends the original positioning data to the communication module 11, and after the communication module 11 receives the original positioning data, the communication module 11 may perform a resolving process on the original positioning data by using an RTK resolving technology, so as to obtain first coordinate information, where the first coordinate information obtained by resolving has a higher positioning precision.

It should be noted that, in the embodiment of the present application, the PVT resolving technology adopted by the GNSS positioning module 10 and the RTK resolving technology adopted by the communication module 11 may refer to the PVT resolving technology and the RTK resolving technology in the related art, which are not described herein.

It can be understood that the conventional positioning module of the vehicle-mounted TBOX is usually integrated in the communication module 11, and is used as a sub-function of the communication module 11 to provide positioning services, and most of the conventional positioning modules can only receive positioning signals of the GPS, and have few accessible satellite frequency points and poor positioning effect. In the embodiment of the application, the high-precision positioning vehicle-mounted TBOX acquires the original positioning data by adopting an independent GNSS positioning module 10, and the GNSS positioning module 10 is independent of the communication module 11 and can receive satellite positioning information sent by various satellites, so that the positioning precision of the vehicle-mounted TBOX is improved.

Further, the high-precision positioning vehicle-mounted TBOX is further provided with an IMU12 and a first MCU13, the IMU12 is electrically connected with the first MCU13, second coordinate information of the vehicle can be obtained through the IMU12, and the IMU12 transmits the obtained second coordinate information to the first MCU 13. The second coordinate information may include six-degree-of-freedom observation data of the vehicle, the six-degree-of-freedom observation data including at least acceleration data and angular velocity data of movement of the vehicle.

The first MCU13 is further electrically connected to the communication module 11, the communication module 11 transmits first coordinate information to the first MCU13, the first MCU13 may obtain positioning data information of the vehicle based on fusion of the first coordinate information and second coordinate information, and then may send the obtained positioning data information to an end where a vehicle is required, for example, a navigation system of the vehicle itself, or a navigation system of a user terminal, etc., so that high-precision positioning is achieved through high-precision positioning of the vehicle-mounted TBOX.

It can be understood that the first MCU13 supports a DR algorithm, and after the first MCU13 receives the first coordinate information and the second coordinate information, the first MCU13 may perform fusion processing on the first coordinate information and the second coordinate information based on the DR algorithm, thereby obtaining high-precision positioning data information, and meeting the high-precision positioning requirement of the vehicle.

Referring to fig. 4 and 5, fig. 4 shows a communication architecture of the high-precision positioning vehicle-mounted TBOX and the external controller according to the application embodiment, and fig. 5 shows a communication architecture of the high-precision positioning vehicle-mounted TBOX and the external controller according to the related art.

As shown in fig. 4, in the related art, the data transmission path of the vehicle positioning system is: the TBOX transmits data to the PBOX through the gateway, and the positioning data obtained through PBOX processing is transmitted to the external controller 21 through the gateway, so that the topology network of the vehicle is relatively complex, the data transmission link is longer, and the risk of data loss is high. As shown in fig. 5, in the vehicle positioning system configured by adopting the high-precision positioning vehicle-mounted TBOX in the embodiment of the present application, the data transmission path is as follows: the TBOX directly transmits the positioning data to the external controller 21 through the gateway, so that the data transmission link is shortened, and the data transmission security is improved.

In some embodiments, the IMU12 in the embodiments of the present application may select an IMU12 with high performance parameters to satisfy the requirement of being able to accurately acquire six degrees of freedom observation data of a vehicle for a long time. The performance parameters of the IMU12 may include, among others: zero bias stability, cross coupling performance, etc.

In addition, the functional security level (Automotive Safety Integration Level, ASIL level) of the first MCU13 in the embodiment of the present application is above level B, so that the MCU can meet the processing requirement of high-precision positioning data.

Optionally, as shown in fig. 2, the communication module 11 includes: a data receiving module 111 and a data correcting module 112; the data receiving module 111 is electrically connected to the GNSS positioning module 10, and is configured to receive the original positioning data; the data correction module 112 is electrically connected to the data receiving module 111, and is configured to correct the original positioning data to obtain first coordinate information; the first MCU13 is electrically connected to the data correction module 112, and the first MCU13 may obtain positioning data information according to the first coordinate information and the second coordinate information.

Specifically, the setting communication module 11 includes a data receiving module 111 and a data modifying module 112, the data receiving module 111 is electrically connected to the GNSS positioning module 10, the data modifying module 112 is electrically connected to the data receiving module 111, and the first MCU13 is electrically connected to the data modifying module 112.

In a specific application, the data receiving module 111 may receive the original positioning data transmitted by the GNSS positioning module 10, and transmit the original positioning data to the data modifying module 112, and the data modifying module 112 modifies the original positioning data to obtain the first coordinate information, so that the data modifying module 112 transmits the first coordinate information to the first MCU13, and the first MCU13 may obtain the positioning data information according to the first coordinate information and the second coordinate information.

In the embodiment of the present application, the data receiving module 111 and the data correcting module 112 are disposed in the communication module 11, and the data receiving module 111 is used to obtain the original positioning data from the GNSS positioning module 10, and then the data correcting module 112 corrects the original positioning data, so as to improve the positioning accuracy.

Optionally, as shown in fig. 2, the high-precision positioning on-board TBOX further includes: an eSIM card 14, the eSIM card 14 for obtaining differential correction data; the eSIM card 14 is electrically connected to a data modification module 112, and the data modification module 112 is further configured to obtain first coordinate information based on the raw positioning data and the differential modification data.

In this embodiment of the present application, by setting the eSIM card 14 in the high-precision positioning vehicle-mounted TBOX, the eSIM card is connected to the data correction module 112 in the communication module 11, and the differential correction data can be obtained through the eSIM card 14 in a networking manner, and is transmitted to the data correction module 112, and the data correction module 112 corrects the original positioning data according to the differential correction data, so as to obtain the first coordinate information.

Alternatively, as shown in fig. 2, high precision positioning of the on-board TBOX may include: a plurality of eSIM cards 14, a first eSIM card 144 of the plurality of eSIM cards 14 being electrically connected to the data modification module 112 for obtaining differential modification data; a second eSIM card 142 of the plurality of eSIM cards 14 is electrically connected to the communication module 11, and the communication module 11 can implement networking and communication functions through the second eSIM card 142.

In particular, the high-precision positioning on-board TBOX can include at least two eSIM cards 14, one of the at least two eSIM cards 14 being a first eSIM card 141 and one of the at least two eSIM cards 14 being a second eSIM card 142 in addition to the first eSIM card 141.

In a specific application, the first eSIM card 141 is electrically connected to the data modification module 112 such that the data modification module 112 obtains differential modification data via networking of the first eSIM card 141. The second eSIM card 142 is electrically connected to the communication module 11, so that the communication module 11 can implement functions such as communication and networking through the second eSIM card 142, so as to improve the communication capability of the communication module 11.

It will be appreciated that by providing a separate first eSIM card 141 in connection with the data modification module 112, the data modification module 112 can implement networking communication functions through the first eSIM card 141 without being affected by networking communication of other modules of the communication module 11.

It should be noted that, the specific connection manner of the second eSIM card 142 and the communication module 11, and the specific number of the second eSIM cards 142 can be determined by those skilled in the art according to the actual use requirement of the communication module 11, which is not limited in the embodiment of the present application.

Optionally, as shown in fig. 2, the high-precision positioning on-board TBOX further includes: the second MCU16, the second MCU16 is used for obtaining the vehicle information of the vehicle; the second MCU16 is electrically connected to the first MCU13 and the communication module 11, and the first MCU13 is further configured to obtain positioning data information based on the first coordinate information, the second coordinate information, and the vehicle information.

In the embodiment of the application, the second MCU16 is set in the high-precision positioning vehicle-mounted TBOX, and the vehicle information of the vehicle can be acquired by using the second MCU16 and sent to the first MCU13, so that the first MCU13 corrects the positioning data information based on the vehicle information, thereby improving the precision of the positioning data information. The vehicle information may include: engine speed, vehicle mileage, current vehicle speed, etc.

In some embodiments, the second MCU16 may be electrically connected to the communication module 11, so that the real-time status of the vehicle may be obtained in real time through the communication module 11 and other modules connected to the communication module 11, so as to realize real-time monitoring of the driving data of the vehicle.

In the embodiment of the application, the first MCU13 and the second MCU16 are respectively arranged on the high-precision positioning vehicle-mounted TBOX, so that the positioning data information can be obtained by processing by the first MCU13, and the remote communication function of the vehicle body except the high-precision positioning can be realized by utilizing the second MCU16, thereby not only ensuring the existing network and communication function of the vehicle-mounted TBOX serving as the remote communication terminal of the vehicle, but also improving the high-precision positioning performance of the vehicle-mounted TBOX.

Optionally, as shown in fig. 2, the high-precision positioning on-board TBOX further includes: CAN 17; the first MCU13 is electrically connected with a CAN 17, and the CAN 17 is used for outputting positioning data information to an external controller 21.

In the embodiment of the application, by setting the CAN 17 in the high-precision positioning vehicle-mounted TBOX, the first MCU13 is electrically connected with the CAN 17, and the first MCU13 CAN realize communication connection with the external controller 21 through the CAN 17, so that the CAN 17 outputs positioning data information to the external controller 21, and data interaction between the high-precision positioning vehicle-mounted TBOX and the external controller 21 is realized.

In some embodiments, the CAD in the embodiments of the present application may select CAN-FD (CAN with Flexible Data rate) to improve transmission performance.

Optionally, as shown in fig. 2, the high-precision positioning on-board TBOX further includes: the GNSS positioning module comprises a built-in positioning antenna 18 and an antenna switch 19, wherein the built-in positioning antenna 18 is connected with the antenna switch 19, and the antenna switch 19 is connected with the GNSS positioning module 10.

It will be appreciated that, typically, the vehicle is provided with an external antenna, and the GNSS positioning module 10 may be electrically connected to the external antenna through the antenna switch 19, so that the GNSS positioning module 10 may receive satellite positioning information using the external antenna.

In a specific application, when an external antenna of a vehicle is abnormal, the GNSS positioning module 10 will be affected to receive satellite positioning information, which reduces the positioning performance of the high-precision positioning vehicle-mounted TBOX, and the built-in positioning antenna 18 is electrically connected with the antenna switch 19 by setting the built-in positioning antenna 18 in the high-precision positioning vehicle-mounted TBOX. Thus, under the condition that the external antenna of the vehicle works normally, the antenna change-over switch 19 is communicated with the external antenna, and the GNSS positioning module 10 receives satellite positioning information by using the external antenna; when the external antenna is abnormal, the built-in positioning antenna 18 can be communicated with the GNSS positioning module 10 by the antenna change-over switch 19, so that the GNSS positioning module 10 can receive satellite positioning information through the built-in positioning antenna 18, and high-precision positioning performance of the high-precision positioning vehicle-mounted TBOX is ensured.

Optionally, as shown in fig. 2, the high-precision positioning on-board TBOX further includes: a power supply module 20; the power module 20 is connected to the second MCU16, and the second MCU16 is further configured to control power supply of the power module 20.

In the embodiment of the application, the power supply module 20 is arranged in the high-precision positioning vehicle-mounted TBOX, and the second MCU16 is used for controlling the power supply of the power supply module 20, so that the second MCU16 can reasonably control the power supply of each module according to the conditions of each module in the TBOX, and energy-saving control is realized. For example, the GNSS positioning module 10 may be controlled to enter a sleep state when the vehicle is not in need of the positioning function, so as to save the energy of the vehicle.

In some embodiments, as shown in FIG. 3, a backup power source and a power system may also be included in the power module 20, the power system being electrically connected to the second MCU16 and the vehicle power source, respectively, the backup power source being electrically connected to the power system. Under the normal working condition of the vehicle, the second MCU16 controls the power supply system to be communicated with the power supply of the vehicle, so that the power supply of the vehicle is utilized to supply power for each module in the high-precision positioning vehicle-mounted TBOX; when the vehicle is abnormal, for example, when the vehicle is damaged, the power supply of the vehicle cannot normally supply power, the power supply system can be controlled by the second MCU16 to be communicated with the standby power, so that the standby power is utilized to supply power to each module in the high-precision positioning vehicle-mounted TBOX, the functions of communication, positioning and the like can be realized under the condition that the vehicle works abnormally, and the use safety of the vehicle is improved.

The standby power supply may be a power battery, for example, a storage battery of 600mAh may be selected, and of course, the specific type of the standby power supply may be set according to actual needs, which is not limited in this embodiment of the present application.

Alternatively, the GNSS positioning module 10 may be a dual-band GNSS positioning module 10. In the embodiment of the application, the carrier waves and the pseudo-ranges on two frequency points can be observed by selecting the dual-frequency GNSS positioning module 10, so that real-time and accurate ionospheric delay correction can be realized, and the real-time positioning accuracy of the GNSS positioning module 10 is improved.

As shown in fig. 3, the GNSS positioning module 10 may be a dual-band GNSS positioning module 10 capable of receiving the satellite positioning signals of the dual-band L1 and L5. Of course, the GNSS positioning module 10 may also be another type of dual-band GNSS positioning module 10, which is not limited in this embodiment.

In some embodiments, the GNSS positioning module 10 may comprise a decimeter level positioning module, a centimeter level positioning module, and a low-rail navigation-enhanced positioning module.

In some embodiments, the GNSS positioning module 10 may support a global positioning system (Global Positioning System, GPS), a beidou satellite navigation system (BeiDou Navigation Satellite System, BDS), a Galileo satellite navigation system (Galileo satellite navigation system, galileo), a global satellite navigation system (Global Navigation Satellite System, GLONASS, GLONASS), and the like. The GNSS positioning module 10 may be independently positioned by a single system or may be jointly positioned by a dual system.

Alternatively, the GNSS positioning module 10 may support GNSS broadband radio frequency technology; the GNSS positioning module 10 may also support a network enhanced satellite positioning system (AGNSS) for fast positioning.

In some embodiments, as shown in fig. 3, the high-precision positioning vehicle-mounted TBOX further includes a second IMU connected to the second MCU, through which vehicle information of the vehicle may be acquired, and the acquired vehicle information is transmitted to the second IMU.

In some embodiments, as shown in fig. 3, the high-precision positioning vehicle-mounted TBOX further includes a second CAN, the second CAN being connected to the second MCU, and the second MCU being communicably connected to an external controller through the second CAN.

In some embodiments, as shown in fig. 3, the high-precision positioning vehicle TBOX further includes a backup communication antenna, which is connected to the communication module.

In a specific application, as shown in fig. 3, the communication module may be connected to an external antenna of the vehicle, typically the communication module communicates through an outgoing antenna. When the external antenna of the vehicle is abnormal, the communication module is communicated with the standby communication antenna, so that normal communication is realized through the standby communication antenna, and the emergency communication safety of the vehicle is improved.

It can be appreciated that the high-precision positioning vehicle-mounted TBOX of the embodiments of the present application may further include: audio and video modules (Codec), network connection modules, storage modules (Embedded Multi Media Card, EMMC), interface modules, speaker assemblies, and the like. Other configurations of high precision positioning vehicle TBOX according to embodiments of the present application are known to those of ordinary skill in the art and will not be described in detail herein.

Optionally, the embodiment of the present application further provides a vehicle, where the vehicle includes the high-precision positioning vehicle-mounted wireless terminal in the embodiment.

Wherein, the high accuracy location vehicle-mounted wireless terminal can include: the GNSS positioning module 10, the communication module 11, the IMU12 and the first MCU13, the GNSS positioning module 10 is used for acquiring original positioning data; the communication module is electrically connected with the GNSS positioning module 10 and is used for obtaining first coordinate information based on the original positioning number; the IMU12 is configured to acquire second coordinate information of the vehicle; the first MCU13 is electrically connected with the communication module 11 and the IMU12 respectively, and the first MCU13 is used for obtaining positioning data information of the vehicle based on the first coordinate information and the second coordinate information.

In this embodiment of the present application, through setting up GNSS positioning module 10 in the on-vehicle TBOX of high accuracy location to acquire original positioning data, and transmit original positioning data to communication module 11, communication module 11 obtains first coordinate information based on original positioning number, and transmits first coordinate information to first MCU13, still is equipped with IMU12 in the on-vehicle TBOX of high accuracy location, acquires the second coordinate information of vehicle through IMU12, and transmits the second coordinate information to first MCU13, and first MCU13 can obtain the positioning data information of vehicle according to first coordinate information and second coordinate information. Therefore, vehicle positioning information with higher precision can be directly obtained through high-precision positioning of the vehicle-mounted TBOX without additionally configuring a positioning device, so that the risk of data transmission loss is reduced, and the use cost is also reduced.

It should be noted that, the vehicle in the embodiment of the present application may include the high-precision positioning vehicle-mounted TBOX in any of the embodiments described above, and the specific structure of the high-precision positioning vehicle-mounted TBOX may be referred to the foregoing, which is not repeated herein.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A high-precision positioning vehicle-mounted wireless terminal, characterized by comprising:

the global navigation satellite system positioning module is used for acquiring original positioning data;

the communication module is electrically connected with the global navigation satellite system positioning module and is used for obtaining first coordinate information based on the original positioning number;

the inertial measurement unit is used for acquiring second coordinate information of the vehicle;

and the first micro control unit is respectively and electrically connected with the communication module and the inertia measurement unit and is used for obtaining the positioning data information of the vehicle based on the first coordinate information and the second coordinate information.

2. The high-precision positioning vehicle-mounted wireless terminal according to claim 1, wherein the communication module comprises: a data receiving module and a data correcting module;

the data receiving module is electrically connected with the global navigation satellite system positioning module and is used for receiving the original positioning data;

the data correction module is electrically connected with the data receiving module and is used for correcting the original positioning data to obtain the first coordinate information;

the first micro control unit is electrically connected with the data correction module.

3. The high-precision positioning vehicle-mounted wireless terminal of claim 2, further comprising: the embedded user identification module is electrically connected with the data correction module and is used for acquiring differential correction data;

the data correction module is further configured to obtain the first coordinate information based on the raw positioning data and the differential correction data.

4. The high-precision positioning vehicle-mounted wireless terminal of claim 2, further comprising a plurality of embedded subscriber identity modules;

a first embedded subscriber identity module in the plurality of embedded subscriber identity modules is electrically connected with the data correction module and is used for obtaining differential correction data; the data correction module is further used for obtaining the first coordinate information based on the original positioning data and the differential correction data;

and a second embedded subscriber identity module except the first embedded subscriber identity module in the plurality of embedded subscriber identity modules is electrically connected with the communication module.

5. The high-precision positioning vehicle-mounted wireless terminal of claim 1, further comprising: the second micro control unit is used for acquiring vehicle information of the vehicle;

the second micro control unit is electrically connected with the first micro control unit and the communication module respectively, and the first micro control unit is further used for correcting the positioning data information based on the vehicle information.

6. The high-precision positioning vehicle-mounted wireless terminal of claim 5, further comprising: a power module;

the power module is electrically connected with the second micro-control unit, and the second micro-control unit is also used for controlling the power supply of the power module.

7. The high-precision positioning vehicle-mounted wireless terminal of claim 1, further comprising: and the controller area network is electrically connected with the first micro control unit and is used for outputting the positioning data information to an external controller.

8. The high-precision positioning vehicle-mounted wireless terminal of claim 1, further comprising: a built-in positioning antenna and an antenna change-over switch;

the built-in positioning antenna is electrically connected with the antenna change-over switch, and the antenna change-over switch is electrically connected with the global navigation satellite system positioning module.

9. The high-precision positioning vehicle-mounted wireless terminal according to claim 1, wherein the global navigation satellite system positioning module is a dual-frequency global navigation satellite system positioning module.

10. A vehicle comprising a high precision positioning vehicle-mounted wireless terminal according to any one of claims 1 to 9.

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