WO2010060263A1 - 一种机动车行驶精确定位方法 - Google Patents

一种机动车行驶精确定位方法 Download PDF

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Publication number
WO2010060263A1
WO2010060263A1 PCT/CN2009/001199 CN2009001199W WO2010060263A1 WO 2010060263 A1 WO2010060263 A1 WO 2010060263A1 CN 2009001199 W CN2009001199 W CN 2009001199W WO 2010060263 A1 WO2010060263 A1 WO 2010060263A1
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Prior art keywords
motor vehicle
vehicle
data
monitoring system
traffic monitoring
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PCT/CN2009/001199
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English (en)
French (fr)
Inventor
文鹏飞
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Wen Pengfei
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Publication of WO2010060263A1 publication Critical patent/WO2010060263A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Definitions

  • the invention relates to a positioning method, in particular to a precise positioning method for a motor vehicle.
  • the GPS monitoring system, the electronic police platform vehicle terminal and other traffic monitoring systems monitor the moving vehicles in real time, monitor and record the illegal driving violations of the motor vehicles in motion, and promptly alert and handle the driver, such as Motor vehicle speeding, overloading and unlicensed driving, drunk driving and fatigue driving. At the same time, it can also monitor and record the driver without wearing a seat belt, driving a mobile phone, curfew, not following traffic signs and markings, and promptly alert the driver.
  • Zhitong traffic system to realize real-time monitoring of motor vehicle driving, the applicant himself invented the invention patent of "a method and device for driving information of motor vehicles" on April 30, 2005, the patent number is "ZL200510069825.
  • the implementation of the present invention can better realize the real-time monitoring of the above-mentioned motor vehicle travel, can effectively reduce the occurrence of traffic accidents, and can play an important role for the development and progress of the transportation industry.
  • the GPS positioning system is relatively accurate in positioning the driving position of the motor vehicle, the error is large, and the positioning accuracy is in the meter level, and the real-time dynamic centimeter-level precision positioning cannot be achieved, so the GPS positioning system drives the vehicle to the line. Over-the-counter accurate monitoring is not possible without over-steering, lane-changing, and berthing.
  • the present invention proposes a method for accurately positioning the vehicle.
  • the method for accurately positioning a motor vehicle comprises the following steps:
  • the traffic monitoring system uses the network RTK technology to receive and process the data of the continuous navigation base station, and provides correction reference data for the positioning of the motor vehicle.
  • the traffic monitoring system transmits the network RTK correction reference data to the vehicle GPS, and the vehicle GPS receives the correction data and combines the positioning data received by itself, and simultaneously calculates the long, wide and high three-dimensional coordinate data of the motor vehicle, and solves the accuracy of the motor vehicle in real time.
  • Positioning data; or car GPS uploads its own positioning data to the traffic monitoring system, traffic monitoring system combined with vehicle GPS positioning data, network RTK correction reference data, motor vehicle length, width, high three-dimensional coordinate positioning data, real-time solution of the aircraft
  • the precise positioning data of the motor vehicle; or the vehicle GPS and traffic monitoring system respectively solve the precise positioning data of the motor vehicle according to the above method, and the traffic monitoring system verifies the positioning accuracy.
  • the vehicle-mounted GPS or/and traffic monitoring system of the present invention solves the accurate positioning data of the motor vehicle in real time, and combines the driving information of the vehicle, such as lighting, braking, whistling, etc., with the electronic language navigation of the vehicle GPS or/and the traffic monitoring system.
  • driving information of the vehicle such as lighting, braking, whistling, etc.
  • electronic language navigation of the vehicle GPS or/and the traffic monitoring system Compared with maps, real-time monitoring of driving behavior, warning, recording and handling illegal driving behavior according to law.
  • Accurate positioning of the moving motor vehicle in real time its positioning accuracy can reach centimeters, or even to the millimeter level, thus ensuring that the motor vehicle is correctly driven on the road according to the law, Intentional and unintentional violations of laws and regulations, such as overtaking, not changing, and not parking by berth, alert and record to the driver to ensure safe driving and maintain good traffic order.
  • 1 is a positional view of a vehicle body of the present invention in three-dimensional coordinates
  • car body 2 length side 3, width side 4, height side
  • the vehicle-mounted GPS satellite receiving antenna on the vehicle body is the three-dimensional coordinate origin 0, and the three-dimensional coordinate is formed by the three-dimensional coordinate axis of the vehicle length, width and height, and the three-dimensional coordinate origin 0 to the left and right of the motor vehicle.
  • the front, back, and up and down distances are grouped, the width is set on the X coordinate axis, the body width is programmed into 0X1 and 0X2; the length is set on the Y coordinate axis, the body length is programmed into 0Y1 and 0Y2; the height is set on the Z coordinate axis, The height of the vehicle body is programmed into 0Z1 and 0Z2; a set of digital signals is formed, and the digital signals are stored in the vehicle GPS or/and traffic monitoring system.
  • cars, buses, trucks, and trailers are represented by letters and distances on three axes:
  • A 0X1 + 0X2, 0Y1+0Y2, 0Z1+0Z2 (car, coordinate origin 0 is set anywhere on the car body), B, 0X1 + 0X2, 0Y1+0Y2, 0Z1+0Z2 (bus, coordinate origin 0 is set in the car Any position on the body),
  • the length side 2 of the car A body 1 is represented as (0X1+0X2)
  • the width side 3 is represented as (0Y1+0Y2)
  • the height side 4 is represented as (0Z1+0Z2).
  • traffic monitoring systems use network RTK technology to receive and process continuous Navigate the base station data to provide correction reference data for the car positioning.
  • the traffic monitoring system transmits the network RTK correction reference data to the car car GPS, the car car GPS receives the correction data and combines the positioning data received by the car itself, and simultaneously calculates the length of the car A.

Description

一种机动车行驶精确定位方法 技术领域
本发明涉及定位方法， 尤其是涉及一种机动车行驶精确定位方法。
背景技术
采用智能交通系统来控制和降低交通事故的发生， 确保交通安全是人们追 求的目标。 也就是说通过测试仪、 计量仪、 摄像仪、 电子语言交通导航地图、
GPS定位系统、电子警察平台车载终端等交通监控系统对行驶的机动车进行实 时监控， 对行驶中的机动车违法违章行驶实施全程监示和记录， 并及时对驾 驶员提出警示和作出处理， 如机动车超速、 超载行驶以及无证驾驶、 酒后驾 驶和疲劳驾驶等。 同时还可对驾驶员不系安全带、 行车打手机、 闯禁、 不按 交通标识和标线行驶进行全程监控和记录， 并及时向驾驶员提出警示信号。 如何用智通交通系统来实现机动车行驶实时监控， 申请人本人已于 2005年 4 月 30日发明了 "一种机动车行驶信息处理方法及其装置" 的发明专利， 专利 号为 "ZL200510069825. X" , 本发明的实施能够比较好地实现上述机动车行驶 实时监控， 能够有效地降低交通事故的发生， 可为交通事业的发展和进步起 到重要的作用。 本发明专利中虽然其 GPS 定位系统对机动车行驶位置定位比 较准确， 但误差大， 定位精度以米级计， 不能做到实时动态厘米级精度定位， 因而 GPS 定位系统对机动车压线行驶、 超车不打转向、 变道不打转向和不按 泊位停牟等还不能进行实时精确监控。
发明内容 针对上述现有技术中 GPS定位系统对机动车行驶不能做到精确定位监控 的问题， 本发明提出了一种机动车行驶精确定位的方法。
本发明所述机动车行驶精确定位方法包括以下步骤，
( 1 )、 以机动车上车载 GPS卫星接收天线为三维坐标原点， 以机动车长、 宽、 高方向为三维坐标轴形成三维坐标，
( 2 )、 利用上述三维坐标将机动车长、 宽、 高尺寸参数储存在车载 GPS或 /和 交通监控系统中，
( 3 )、 交通监控系统采用网络 RTK技术接收并处理连续导航基准站数据， 为 机动车定位提供改正参考数据，
( 4 )、 交通监控系统将网络 RTK改正参考数据传送给车载 GPS， 车载 GPS接收 改正数据并结合自身接收的定位数据， 同时计算机动车长、 宽、 高三维坐标 数据， 实时求解该机动车的精确定位数据； 或是车载 GPS将本身的定位数据 上传给交通监控系统， 交通监控系统结合车载 GPS定位数据、 网絡 RTK改正 参考数据、 机动车长、 宽、 高三维坐标定位数数据， 实时求解该机动车的精 确定位数据； 或是分别由车载 GPS和交通监控系统根据上述方法求解机动车 的精确定位数据， 并由交通监控系统验证其定位精确性。
本发明所述车载 GPS或 /和交通监控系统实时求解得到机动车的精确定位 数据， 结合该机动车的灯光、 刹车、 鸣笛等行驶信息， 与车载 GPS或 /和交通 监控系统的电子语言导航地图相比对， 实时监控驾驶行为， 依法警告、 记录 和处理违法驾驶行为。 对行驶中的机动车实时精确定位， 其定位精度可达到 厘米、 甚至到毫米级， 因而可确保机动车在道路上依法正确行驶， 对压线、 超车不打转向、 变道不打转向和不按泊位停车等有意和无意的违法违章行为 向驾驶员提出警示并记录， 确保机动车行驶安全， 维护良好的交通秩序。
附图说明
图 1是本发明机动车车体在三维坐标中的位置图，
在图中， 1、 车体 2、 长度边 3、 宽度边 4、 高度边
具体实施方式
在图 1中， 以机动车车体上的车载 GPS卫星接收天线为三维坐标原点 0， 以机动车长、 宽、 高方向为三维坐标轴形成三维坐标， 以三维坐标原点 0到 机动车左右、 前后、 上下的距离进行编组， 宽度设置在 X 坐标轴上， 车体宽 度编成 0X1和 0X2 ; 长度设置在 Y坐标轴上， 车体长度编成 0Y1和 0Y2 ; 高度 设置在 Z坐标轴上， 车体高度编成 0Z1和 0Z2; 形成一组数字信号， 并将上述 数字信号储存在车载 GPS或 /和交通监控系统中。 如： 轿车、 客车、 货车和挂 车分别用字母和在三个坐标轴上的距离表示为：
A, 0X1 + 0X2、 0Y1+0Y2, 0Z1+0Z2 (轿车， 坐标原点 0设在车体上任意位置）， B, 0X1 + 0X2、 0Y1+0Y2, 0Z1+0Z2 (客车， 坐标原点 0设在车体上任意位置），
C, 0X1 + 0X2、 0Y1+0Y2. 0Z1+0Z2 (货车， 坐标原点 0设在车体上任意位置），
D, 0X1 + 0X2、 0Y1+0Y2, 0Z1+0Z2, (挂车， 坐标原点 0设在车体上任意位置）， 具体实施例， 下面以轿车 （A )为例举例说明：
利用上述三维坐标， 将轿车 A车体 1的长度边 2表示为 （0X1+0X2 )、 宽度 边 3表示为 （0Y1+0Y2)、 高度边 4表示为 （0Z1+0Z2 ) 的尺寸参数储存在车载 GPS或 /和交通监控系统中， 交通监控系统采用网络 RTK技术接收并处理连续 导航基准站数据， 为轿车定位提供改正参考数据， 交通监控系统将网络 RTK 改正参考数据传送给轿车车载 GPS,轿车车载 GPS接收改正数据并结合轿车自 身接收的定位数据， 同时计算轿车 A 的长、 宽、 高三维坐标数据， 实时求解 该轿车的精确定位数据； 或是轿车车载 GPS将本身的定位数据上传给交通监 控系统， 交通监控系统结合车载 GPS定位数据、 网络 RTK改正参考数据、 轿 车长、 宽、 高三维坐标定位数数据， 实时求解该轿车的精确定位数据； 或是 分别由轿车车载 GPS和交通监控系统根据上述方法求解该轿车的精确定位数 据， 并由交通监控系统验证其定位精确性。

Claims

权 利 要 求
1、 一种机动车行驶精确定位方法， 其特征在于： 它包据以下步骤，
( 1 )、 以机动车上车载 GPS卫星接收天线为三维坐标原点， 以机动车长、 宽、 高方向为三维坐标轴形成三维坐标，
( 2 )、 利用上述三维坐标将机动车长、 .宽、 高尺寸参数储存在车载 GPS或 /和 交通监控系统中，
( 3 )、 交通监控系统采用网络 RTK技术接收并处理连续导航基准站数据， 为 机动车定位提供改正参考数据，
( 4 )、 交通监控系统将网络 RTK改正参考数据传送给车载 GPS, 车载 GPS接收 改正数据并结合自身接收的定位数据， 同时计算机动车长、 宽、 高三维坐标 数据， 实时求解该机动车的精确定位数据； 或是车载 GPS将本身的定位数据 上传给交通监控系统， 交通监控系统结合车载 GPS定位数据、 网络 RTK改正 参考数据、 机动车长、 宽、 高三维坐标定位数数据， 实时求解该机动车的精 确定位数据； 或是分别由车载 GPS和交通监控系统 居上述方法求解机动车 的精确定位数据， 并由交通监控系统验证其定位精确性。
PCT/CN2009/001199 2008-11-03 2009-10-28 一种机动车行驶精确定位方法 WO2010060263A1 (zh)

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