TW201531731A - Positioning system and method for auxiliary mobile carrier - Google Patents

Abstract

The invention provides a positioning system and a method for an auxiliary mobile carrier, which mainly comprises a mobile carrier, a mobile carrier signal reading unit, an integrating operation unit and a positioning unit. Distance and speed signals are acquired through the angle of a steering wheel of the carrier. After the signals are processed, the more reliable and accurate location information is provided even when signals are poorly acquired or are acquired at an offset. The invention is capable of effectively improving the deficiency of a satellite positioning device. Therefore, when the original satellite positioning device is incapable of acquiring sufficient, failed or abnormal location information, the system is still capable of providing reliable and accurate location information.

Description

System and method for assisting mobile vehicle positioning

The present invention relates to a method of positioning; in particular, to a system and method for assisting the positioning of a mobile vehicle, in conjunction with an auxiliary positioning system that estimates the distance of the moving vehicle steering wheel and the distance traveled during the sampling time.

Satellite positioning systems cannot overcome the effects of positioning distortion caused by shadowing (elevated roads, tunnels, street trees, buildings, etc.). Multi-purpose auxiliary GPS relay system in patent pre-issue (publication date: 2006/12/1, public (com) number: 200641383), similar multi-purpose auxiliary GPS relay system patent, using line communication system Passing the auxiliary positioning information can only enhance and enhance the satellite positioning capability. It is not possible to assist in positioning in the case of positioning failure, interference, drift, and the like.

The use of mobile communication as a framework and method for DGPS precise positioning in the patent case (publication date: 2004/08/16, public notice number: 200415369), similar use of mobile communication as the architecture and method of DGPS precise positioning Patented to integrate mobile communications and DGPS as a method of precision positioning. It can only solve the problem of positioning drift, and can't achieve the auxiliary positioning effect when the GPS is bad.

The network assisted action positioning system method used in the pre-patent case for positioning services (publication date: 2006/01/1, public (com) number: 200106859), similar patents use mobile communication networks and base stations and other information The method assists in positioning, and the accuracy is not as high as the result of calculating the physical quantity of the moving vehicle.

The integrated positioning system and method for the pre-patent vehicle (publication date: 2005/10/16, public notice number: 200533945), similarly using the inertial measurement component (accelerometer) as a method of integrated positioning, This special only uses the steering wheel angle and the moving distance/speed information of the mobile vehicle. In contrast, the patent has the advantages of easier implementation, lower cost and less interference with the non-moving physical quantity of the vehicle.

It can be seen that there are still many shortcomings in the above-mentioned methods of use, which is not a good design, but needs to be improved.

In view of the shortcomings derived from the above-mentioned conventional methods, the inventor of the present invention has improved and innovated, and after years of painstaking research, he finally succeeded in researching and developing this invention.

The invention is an innovative application of the vehicle terminal device technology. The invention is dedicated to the research and development of vehicle terminal equipment for many years, and continuously improves the technical level in communication and positioning technology to provide customers with better service quality. In the field of satellite positioning, it is leading the industry to adopt SiRF's fourth-generation satellite positioning chip, which greatly improves the reception effect.

However, the development trend of satellite positioning chips is to continuously improve the sensitivity, so that the positioning effect can be improved under the condition of weak reception, but it is helpless in the sheltered environment. In other words, this is the only shortcoming of satellite positioning. The invention combines the steering wheel sensing and the distance/speed sensing signal of the vehicle to provide more reliable and accurate positioning information under the original (satellite) positioning failure, which can effectively improve the reliability of the fleet management service and compete in the market. The method for assisting the positioning of the mobile vehicle to achieve the above object is to estimate a reference auxiliary positioning coordinate by using the distance between the moving vehicle steering wheel angle and the sampling time for replacement of the original positioning system.

Its formula is as follows: X _{n +1} = X _n + △ X ...... (1)

Y _{n +1} = Y _n +Δ Y ......(2)

△ X = S . Sin δ _n ......(3)

△ Y = S . Cos δ _n ......(4)

among them,

The definition is as follows: X _i : horizontal (east) to coordinate position △ X : horizontal (east) displacement distance

Y _i : longitudinal (south-north) coordinate position △ Y : vertical (south-south) displacement distance

S : moving distance

δ _n : azimuth angle θ ₀ : azimuth of the auxiliary positioning origin

In addition, the auxiliary assisted positioning coordinate system needs a more accurate and referenced origin ( X ₀ , Y ₀ ) as the starting calculation, and the origin is from the original positioning system that the signal has not been lost or its positioning state is still valid. In the case, after the steering wheel angle approaches 0°±the error range and maintains a certain distance (for example, 2 times the moving vehicle length), it is the origin ( X ₀ , Y ₀ ) of the auxiliary positioning system coordinate. During the movement of the vehicle, the origin coordinates ( X ₀ , Y ₀ ) of the auxiliary positioning are continuously updated under the condition that the above conditions are met for the auxiliary positioning operation to calculate the coordinate position after each sampling time ( X _{n +1} , Y _{n + 1} ). Once the positioning system fails or is unreliable, the auxiliary positioning coordinate is used as the actual coordinate to achieve the purpose of assisting the positioning of the mobile vehicle.

The technical features provided by the present invention have the following advantages when compared with other conventional technologies:

1. The present invention utilizes the azimuth and velocity information provided by the mobile vehicle to greatly simplify the complexity of installation and use.

2. The invention directly utilizes the azimuth and velocity reference values of the mobile vehicle itself, and the noise interference image has low efficiency and high stability.

3. The invention does not need to install additional sensors and devices, which effectively reduces the purchase cost.

10‧‧‧Mobile Vehicles

11‧‧‧ Steering wheel angle sensing element

12‧‧‧ Moving distance sensing components

20‧‧‧Mobile Vehicle Signal Reading Unit

21‧‧‧Steering wheel angle interface

22‧‧‧Mobile distance interface

30‧‧‧Integrated arithmetic unit

40‧‧‧ Positioning unit

101‧‧‧Car

111‧‧‧Steering wheel angle sensing element

121‧‧‧Moving distance sensing component

201‧‧‧CAN Bus interface

211‧‧‧Steering wheel angle signal

221‧‧‧Mobile distance signal

401‧‧‧GPS satellite positioning module

S100~S107‧‧‧ Process steps

S200~S207‧‧‧ Process steps

The detailed description of the present invention and the accompanying drawings will be further understood, and the technical contents of the present invention and the functions thereof can be further understood. FIG. 1 is a schematic view of a system for assisting the positioning of a mobile vehicle according to the present invention.

Figure 2 is a diagram showing an embodiment of a system for assisting the positioning of a mobile vehicle of the present invention.

3 is a flow chart of a method for assisting positioning of a mobile vehicle according to the present invention.

4 is a flow chart of a method for assisting positioning of a mobile vehicle according to the present invention.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Hereinafter, the present invention will be further described with reference to the accompanying drawings. The present invention can achieve the purpose of assisting positioning by only two information such as the steering wheel angle of the moving carrier and the distance moved during the sampling time. When the original positioning system is unreliable or fails, the original positioning system is replaced to make up for the missing, and continues until the original positioning system returns to normal function. In this way, the mobile vehicle belongs to the system or positioning related functions and services; for example, taxi dispatch, vehicle monitoring, tracking, navigation, and the like. This will assist the positioning of the application, and provide reference positioning information without interruption, so that the overall operation is more reliable, convenient and practical.

The system for assisting the positioning of the mobile vehicle according to the present invention comprises four major units: (1) a mobile vehicle, (2) a mobile vehicle signal reading unit, (3) an integrated computing unit, and (4) a positioning unit. The core of the operation of this method is (3) integrated computing unit; (3) integrated computing unit by (2) mobile vehicle signal reading unit, after receiving the steering wheel angle and moving distance or speed information of the moving vehicle, When the positioning unit signal is reliable, the updated origin position ( X ₀ , Y ₀ ) is continuously calculated, and the position of the auxiliary positioning is continuously calculated. When the positioning unit is unreliable, it can be replaced by the positioning data of the integrated computing unit to achieve the function of assisting positioning to complete a convenient, accurate and perfect positioning system.

Please refer to FIG. 1 , which is a schematic diagram of a system for assisting the positioning of a mobile vehicle according to the present invention. As shown in FIG. 1, the present invention is applied to a system architecture diagram of a taxi monitoring dispatch system combining an in-vehicle device and a smart phone, including four. Large units: (1) mobile carrier 10, (2) mobile carrier signal reading unit 20, (3) integrated computing unit 30, and (4) positioning unit 40. .

Please refer to FIG. 2, which is a diagram of an embodiment of a system for assisting mobile vehicle positioning according to the present invention. As shown in FIG. 2, an embodiment will be described to describe the built-in steering wheel angle sensing element 111 and the moving distance sensing element 121 by the car 101, and the integrated computing unit 30 reads the steering wheel angle of the vehicle by the CAN BUS interface 201. The signal 211 and the moving distance signal 221 read the position, direction angle and positioning state of the GPS satellite positioning module 401.

The formula for the integrated arithmetic unit to process the moving distance signal and the steering wheel angle signal of the CAN Bus interface is as follows: X _{n +1} = X _n + △ X ...... (1)

Y _{n +1} = Y _n +Δ Y ......(2)

△ X = S . Sin δ _n ......(3)

△ Y = S . Cos δ _n ......(4)

among them,

Defined as follows: X _i : horizontal (east) to coordinate position

△ X : horizontal (east) displacement distance

Y _i : vertical (south-north) to coordinate position

△ Y : longitudinal (south-south) displacement distance

S : moving distance

δ _n : azimuth

θ ₀ : azimuth of the auxiliary positioning origin

Please refer to FIG. 3, which is a flow chart of a method for assisting positioning of a mobile vehicle according to the present invention. As shown in FIG. 1 and FIG. 3, the operational flow of the present invention may include at least:

S100 positioning information reception.

Whether the S101 positioning message is correct.

If S102, it is determined whether the auxiliary positioning origin condition is satisfied.

If S103 is, the auxiliary positioning origin is updated.

S104 updates the anchor point, and if S102, the anchor point is updated.

S105, if S101, no, determine whether the auxiliary positioning origin has been obtained, and if not, return to S100 to locate the information reception.

S106, if S105 is, assists in positioning calculation.

S107 updates the auxiliary positioning point.

Please refer to FIG. 4, which is a flow chart of a method for assisting positioning of a mobile vehicle according to the present invention. As shown in FIG. 2 and FIG. 4, the method flow of the present invention will be described by taking an automobile as an embodiment, and the steps thereof may at least include:

S200 positioning information reception.

S201 determines that the GPS state is valid and the displacement calculation distance is between V _n xT and V _{n +1} xT .

S202, if yes, determine whether the steering wheel angle is close to 0 degrees, the error is within 5 degrees, and the vehicle length is traveled.

If S203 is, the auxiliary positioning origin is updated.

S204 updates the anchor point, and if S202, the anchor point is updated.

S205, if S201, no, determine whether the auxiliary positioning origin has been obtained, and if not, return to S200 to locate the information reception.

S206, if yes, assists in positioning calculation.

S207 updates the auxiliary positioning point.

The detailed description of the present invention is intended to be illustrative of a preferred embodiment of the invention, and is not intended to limit the scope of the invention. The patent scope of this case.

To sum up, this case is not only innovative in terms of technical thinking, but also has many of the above-mentioned functions that are not in the traditional methods of the past. It has fully complied with the statutory invention patent requirements of novelty and progressiveness, and applied for it according to law. Approved this invention patent application, in order to invent invention, to the sense of virtue.

10‧‧‧Mobile Vehicles

11‧‧‧ Steering wheel angle sensing element

12‧‧‧ Moving distance sensing components

20‧‧‧Mobile Vehicle Signal Reading Unit

21‧‧‧Steering wheel angle interface

22‧‧‧Mobile distance interface

30‧‧‧Integrated arithmetic unit

40‧‧‧ Positioning unit

Claims (8)

A system for assisting the positioning of a mobile vehicle, comprising at least: a moving vehicle comprising a steering wheel angle sensing element and a moving distance sensing component, and sensing a sensing signal generated by a change in steering wheel angle and a sensing signal generated by a speed or a fixed moving distance, and Calculating the moving distance; a mobile vehicle signal reading unit comprising a moving distance interface and a steering wheel angle interface, the steering wheel angle interface reading or detecting the driving mileage and the driving speed, receiving the sensing signal of the mobile vehicle, and selecting direct reading Taking the sensing signals or the computer diagnostic interface of the mobile vehicle; an integrated computing unit is a central processing unit that receives the signals input by the mobile vehicle signal reading unit and a positioning unit for arithmetic processing; and a positioning The unit obtains a positioning position and an azimuth angle, and has a positioning device for the unit positioning signal reliability indicator, and transmits the obtained signal to the integrated operation unit. The system for assisting the positioning of the mobile vehicle according to the first aspect of the application, wherein the computer diagnostic interface is a communication interface standard of OBDII, CAN BUS, and LIN BUS. The system for assisting mobile vehicle positioning as described in claim 1, wherein the positioning device is a global satellite positioning system (GPS). A method for assisting positioning of a mobile vehicle includes the steps of: A. receiving positioning information and determining whether the positioning is correct; B. if yes, determining whether the auxiliary positioning origin condition is satisfied, and if not, determining whether to obtain an auxiliary positioning origin, if No, determine if assisted positioning has been obtained Origin; C. In step B, if the auxiliary positioning origin condition is satisfied, the auxiliary positioning origin is updated and the positioning point is updated, if the auxiliary positioning origin condition is not satisfied, the positioning point is directly updated; and D. In step B, if When the auxiliary positioning origin has been obtained, the auxiliary positioning calculation is performed and the auxiliary positioning point is updated. If the auxiliary positioning origin is not obtained, the step A is re-positioned to receive the information reception. The method for assisting the positioning of the mobile vehicle as described in claim 4, wherein the step A is correctly positioned, the positioning unit status indication is valid, and the distance from the previous sampling position is consistent with the moving distance sensing component of the mobile vehicle. Displacement calculation. The method for assisting the positioning of the mobile vehicle according to the fourth aspect of the application, wherein the step B satisfies the auxiliary positioning origin condition, and if the original positioning point has not lost the signal or the positioning state is still valid, the steering wheel angle is matched. After approaching 0°± error range and maintaining a certain distance, it starts to assist the positioning origin ( X ₀ , Y ₀ ). The method for assisting the positioning of a mobile vehicle as described in claim 7, wherein the distance is the length of the mobile vehicle. The method for assisting the positioning of the mobile vehicle according to the fourth aspect of the application, wherein the step D assisted positioning calculation is as follows: X _{n +1} = X _n + △ X (1) Y _{n +1} = Y _n + △ Y ...... (2) △ X = S . Sin δ _n (3) △ Y = S . Cos δ _n (4) where, The definition is as follows: X _i : horizontal (east) to coordinate position △ X : horizontal (east) displacement distance Y _i : vertical (north and south) to coordinate position △ Y : vertical (north and north) displacement distance S : moving distance δ _n : azimuth θ ₀ : Azimuth of the auxiliary positioning origin.