CN104198984A - Urban vehicle navigation positioning method based on road lamp assistant positioning - Google Patents
Urban vehicle navigation positioning method based on road lamp assistant positioning Download PDFInfo
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- CN104198984A CN104198984A CN201410378154.4A CN201410378154A CN104198984A CN 104198984 A CN104198984 A CN 104198984A CN 201410378154 A CN201410378154 A CN 201410378154A CN 104198984 A CN104198984 A CN 104198984A
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- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention discloses an urban vehicle navigation positioning method based on road lamp assistant positioning. According to the method, road lamps on both sides of an urban road are taken as navigation positioning reference road signs, and the IDs of the road lamps are numbers in order that each road lamp ID number corresponds to one piece of fixed position information; meanwhile, wireless communication equipment is arranged on the road lamps, the ID number of the road lamp which is nearest to a vehicle passing by is acquired through Bluetooth communication, the position information of the road lamp can be acquired by inquiring a road lamp position database, and navigation is performed by taking the position of the road lamp as the position of the vehicle. Through adoption of the method, accurate positioning can be realized when the vehicle runs in a tunnel or a road beside which high buildings exist even though a satellite navigating signal is shielded; moreover, only Bluetooth equipment needs to be arranged on a portion of urban road lamps in cities, the modification amount is small; the Bluetooth equipment only needs to provide the number of the road lamp on which the Bluetooth equipment is positioned, thereby realizing small communication data side, low time consumption and adaptability to high running speeds of vehicles.
Description
Technical field
The present invention relates to a kind of city automotive positioning method based on street lamp auxiliary positioning, belong to city vehicle airmanship.
Background technology
Existing Vehicular navigation system is generally all equipped with GPS receiver, can obtain in real time the navigation informations such as longitude, latitude, height of vehicle, and show by numerical map by receiving gps satellite signal.Yet, along with towering, cross tunnel, mountain, city the inside high building gets more and more with overpass, and Vehicle Driving Cycle often runs into the situation that gps satellite signal is blocked, is difficult to provide effective locating information on road time.Consider above-mentioned situation, tend on the basis of GPS location by mode assisting vehicle navigator fixs such as dead reckoning (Dead Reckoning, DR), map match (Map Matching, MM).
Document (Jin Liangliang, He Wentao, Xu Jianhua, Deng, < < Low-cost GPS/DR Design of Integrated Navigation System > >, < < computer engineering > >, in September, 2012, the 38th volume, the 18th phase, 228th～230 pages) a kind of DR method based on single gyroscope list accelerometer is provided, and form vehicle GPS/DR integrated navigation system in conjunction with GPS, when blocking, gps signal can keep location.
Document (Wu Zhoujie, < < combined type onboard navigation system research > >, Shanghai Communications University's master thesis, 2009) a kind of combined type automotive positioning method based on inertial navigation/GPS/ electronic compass is provided, mode by many information fusion can improve vehicle location precision, when GPS loses efficacy, can guarantee the positioning precision in a period of time.
Mode by integrated navigation can be for vehicle provides navigation information when GPS lost efficacy.But there are the error characteristics of accumulation in time in DR navigate mode, makes DR only can guarantee short-term positioning precision, if do not receive for a long time gps signal, just cannot realize the navigator fix of vehicle;
A kind of city vehicle locating guidepost sensor is provided in the utility model patent that grant number is ZL2005200771759.5, by lay the mode of road sign in road, to vehicle, provides positional information.Road sign point need to be arranged in current road sign location in city, and will obtain the full location information of road sign, and communication time that need to be longer, if Vehicle Speed is talked about faster, is often difficult to location.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of city automotive positioning method based on street lamp auxiliary positioning, consider that urban road both sides have installed a fairly large number of illuminating street lamp, and street lamp distributes closeer, geographic position remains unchanged substantially, the present invention is usingd street lamp as with reference to road sign, and wireless device is installed on street lamp is formed beacon, in order to assistant GPS, vehicle is carried out to integrated positioning, realization automatic navigator in city scope can still can provide high precision position information when gps satellite signal is blocked for a long time, a kind of effective, inexpensive scheme.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A city automotive positioning method based on street lamp auxiliary positioning, comprises the steps:
(1) selected part or all as road sign in the street lamp of road both sides, and the wireless device that current street lamp ID numbering can be provided is installed on these street lamps, sets up the database of street lamp ID numbering and street lamp geographic position corresponding relation;
(2) in the onboard navigation system of vehicle, be written into the database that step (1) is set up;
(3) onboard navigation system is opened radio communication function, the described wireless device that search can connect, and communicate with the wireless device that can connect, obtain street lamp ID numbering;
(4) onboard navigation system is according to street lamp ID numbering, and in the database being written in step (2), retrieval is numbered corresponding street lamp geographic position with street lamp ID;
(5) street lamp geographic position step (4) being retrieved is as the correspondence geographic position of vehicle constantly, and utilizes this geographic position to carry out position correction to automatic navigator, and then realizes navigation.
Preferably, in described step (3), onboard navigation system is opened radio communication function, the described wireless device that search can connect, and communicate with the strongest wireless device that can connect of signal, obtain street lamp ID numbering.Certainly can be weighted and process accurately to locate in conjunction with several wireless signals, but consider that road speed may be very fast, the processing speed of signal is required can be higher, adopts peak signal (street lamp of corresponding proximal most position), consuming time short, when the very fast speed of a motor vehicle, also can use.
Preferably, the described wireless device that provides current street lamp ID to number is bluetooth equipment, and onboard navigation system is opened function of Bluetooth communication, the described bluetooth equipment that search can connect.
Preferably, described wireless device comprises housing and communication chip, and communication chip is arranged in housing, can be set to an individual components by wireless device.
Preferably, described street lamp ID numbering offers communication chip by input equipment, and described input equipment is also arranged in housing; Described street lamp ID numbering also can be directly fixed in communication chip.
Preferably, be solidified with identification code in communication chip, the identification code of all communication chips is identical; Carry navigational system by identification code identification wireless signal: if there is identification code in wireless signal, carry out subsequent operation; Otherwise, abandon this wireless signal.By the setting of identification code, also avoid carrying the processing of navigational system to garbage signal, increase location consuming time.
Preferably, described wireless device is powered by the power supply of street lamp.
Preferably, also comprise solar cell, wherein the plane skylight of solar cell is also outside exposed as a part for housing, and the remainder of solar cell is arranged in housing, by solar cell, is that wireless device is powered.
Preferably, the installation site of described wireless device is: the above position of 2m, driving road surface that street lamp is corresponding.
Beneficial effect: the city automotive positioning method based on street lamp auxiliary positioning provided by the invention, using city street lamp as navigator fix with reference to road sign, can improve largely the positional precision of onboard navigation system, even satellite navigation signals is blocked and also can accurately locates on the road towering at tunnel, both sides high building; And the inventive method only need install wireless device additional on the basis of existing urban transportation device, and repacking amount is little; The present invention mainly provides the ID numbering of street lamp when signal transmits in addition, and amount of communication data is little, consuming time short, also applicable when Vehicle Speed is very fast.
Accompanying drawing explanation
Fig. 1 is the inventive method realization flow figure;
Fig. 2 is the structural representation of bluetooth equipment, and wherein, 1 is housing, and 2 is Bluetooth chip, 3 plane skylights that are solar cell, 4 remainders that are solar cell.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Be illustrated in figure 1 a kind of city automotive positioning method based on street lamp auxiliary positioning, comprise the steps:
(1) selected part or all as road sign in the street lamp of road both sides, and the bluetooth equipment that current street lamp ID numbering can be provided is installed on these street lamps, sets up the database of street lamp ID numbering and street lamp geographic position corresponding relation;
(2) in the onboard navigation system of vehicle, be written into the database that step (1) is set up;
(3) onboard navigation system is opened function of Bluetooth communication, the described bluetooth equipment that search can connect, and communicate with the strongest bluetooth equipment that can connect of signal, obtain street lamp ID numbering;
(4) onboard navigation system is according to street lamp ID numbering, and in the database being written in step (2), retrieval is numbered corresponding street lamp geographic position with street lamp ID;
(5) street lamp geographic position step (4) being retrieved is as the correspondence geographic position of vehicle constantly, and utilizes this geographic position to carry out position correction to automatic navigator, and then realizes navigation.
As shown in Figure 2, described bluetooth equipment is individual components, comprise housing, Bluetooth chip and solar cell, Bluetooth chip is arranged in housing, the plane skylight of solar cell is also outside exposed as a part for housing, the remainder of solar cell is arranged in housing, by solar cell, is that bluetooth equipment is powered.Described street lamp ID numbering is directly fixed in Bluetooth chip, simultaneously.In Bluetooth chip, can also be solidified with identification code, the identification code of all Bluetooth chips is identical; Carry navigational system by identification code identification wireless signal: if there is identification code in wireless signal, carry out subsequent operation; Otherwise, abandon this wireless signal.
The installation site of described bluetooth equipment is: the above position of 2m, driving road surface that street lamp is corresponding.
When Vehicle Driving Cycle, onboard navigation system bluetooth module is near the bluetooth equipment of search constantly, once connect and communicate by letter with the bluetooth equipment on nearest street lamp, and can obtain street lamp ID numbering, and in conjunction with the street lamp numbering being written in advance and street lamp geographic position correspondence database, by inquire about determine connect the street lamp geographic position at bluetooth equipment place, and using this position as vehicle position in order to automobile navigation, so just can carry out position correction to automatic navigator, and then realize navigation.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the city automotive positioning method based on street lamp auxiliary positioning, is characterized in that: comprise the steps:
(1) selected part or all as road sign in the street lamp of road both sides, and the wireless device that current street lamp ID numbering can be provided is installed on these street lamps, sets up the database of street lamp ID numbering and street lamp geographic position corresponding relation;
(2) in the onboard navigation system of vehicle, be written into the database that step (1) is set up;
(3) onboard navigation system is opened radio communication function, the described wireless device that search can connect, and communicate with the wireless device that can connect, obtain street lamp ID numbering;
(4) onboard navigation system is according to street lamp ID numbering, and in the database being written in step (2), retrieval is numbered corresponding street lamp geographic position with street lamp ID;
(5) street lamp geographic position step (4) being retrieved is as the correspondence geographic position of vehicle constantly, and utilizes this geographic position to carry out position correction to automatic navigator, and then realizes navigation.
2. the city automotive positioning method based on street lamp auxiliary positioning according to claim 1, it is characterized in that: in described step (3), onboard navigation system is opened radio communication function, the described wireless device that search can connect, and communicate with the strongest wireless device that can connect of signal, obtain street lamp ID numbering.
3. the city automotive positioning method based on street lamp auxiliary positioning according to claim 1, it is characterized in that: the described wireless device that provides current street lamp ID to number is bluetooth equipment, onboard navigation system is opened function of Bluetooth communication, the described bluetooth equipment that search can connect.
4. the city automotive positioning method based on street lamp auxiliary positioning according to claim 1, is characterized in that: described wireless device comprises housing and communication chip, and communication chip is arranged in housing.
5. the city automotive positioning method based on street lamp auxiliary positioning according to claim 4, is characterized in that: described street lamp ID numbering offers communication chip by input equipment, and described input equipment is also arranged in housing.
6. the city automotive positioning method based on street lamp auxiliary positioning according to claim 4, is characterized in that: described street lamp ID numbering is solidificated in communication chip.
7. according to the city automotive positioning method based on street lamp auxiliary positioning described in claim 5 or 6, it is characterized in that: in communication chip, be solidified with identification code, the identification code of all communication chips is identical; Carry navigational system by identification code identification wireless signal: if there is identification code in wireless signal, carry out subsequent operation; Otherwise, abandon this wireless signal.
8. the city automotive positioning method based on street lamp auxiliary positioning according to claim 4, is characterized in that: described wireless device is powered by the power supply of street lamp.
9. the city automotive positioning method based on street lamp auxiliary positioning according to claim 4, it is characterized in that: also comprise solar cell, wherein the plane skylight of solar cell is also outside exposed as a part for housing, the remainder of solar cell is arranged in housing, by solar cell, is that wireless device is powered.
10. the city automotive positioning method based on street lamp auxiliary positioning according to claim 1, is characterized in that: the installation site of described wireless device is: the above position of 2m, driving road surface that street lamp is corresponding.
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| CN201410378154.4A CN104198984A (en) | 2014-08-01 | 2014-08-01 | Urban vehicle navigation positioning method based on road lamp assistant positioning |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819721A (en) * | 2015-05-07 | 2015-08-05 | 成都曙光光纤网络有限责任公司 | Navigation system |
| CN105489045A (en) * | 2015-12-29 | 2016-04-13 | 生迪智慧科技有限公司 | Illumination device, traffic information determination method and traffic information determination system |
| CN105634578A (en) * | 2015-12-29 | 2016-06-01 | 九派逐浪（北京）网络通讯技术股份有限公司 | Beam forming device, intelligent antenna and wireless communication equipment |
| CN105722293A (en) * | 2016-03-24 | 2016-06-29 | 厦门市朗星节能照明股份有限公司 | Intelligent streetlamp pole |
| CN106326414A (en) * | 2016-08-24 | 2017-01-11 | 国网天津市电力公司 | Street light site navigating method |
| CN106405601A (en) * | 2016-10-21 | 2017-02-15 | 北京汽车集团有限公司 | Vehicle positioning method and apparatus, and vehicle |
| CN106646335A (en) * | 2016-09-20 | 2017-05-10 | 常州海蓝利科物联网技术有限公司 | Positioning device based on intelligent street lamp communication network and using method thereof |
| CN107843906A (en) * | 2016-09-21 | 2018-03-27 | 千寻位置网络有限公司 | The navigation locating method and its system of mobile terminal |
| CN108022438A (en) * | 2017-11-24 | 2018-05-11 | 南京云游智能科技有限公司 | Urban traffic guidance method, system and electric road sign apparatus based on NB-IoT |
| CN108230715A (en) * | 2016-12-15 | 2018-06-29 | 上海仪电（集团）有限公司中央研究院 | A kind of intelligent guidance system and method based on street lamp |
| CN108225320A (en) * | 2016-12-22 | 2018-06-29 | 通用汽车环球科技运作有限责任公司 | Use the vehicle positioning system of V2X, sensor and GNSS information |
| CN108282744A (en) * | 2018-03-30 | 2018-07-13 | 浙江方大智控科技有限公司 | Wisdom traffic system based on wisdom lamp stand |
| CN108966135A (en) * | 2018-07-27 | 2018-12-07 | 武汉理工大学 | A kind of underground intercommunication secondary navigation system based on iBeacon technology |
| CN110231639A (en) * | 2019-06-26 | 2019-09-13 | 北京百度网讯科技有限公司 | Vehicle positioning method, device, equipment and medium |
| CN112213689A (en) * | 2019-07-09 | 2021-01-12 | 阿里巴巴集团控股有限公司 | Navigation method, positioning method, device and equipment |
| CN112344951A (en) * | 2020-10-29 | 2021-02-09 | 南京南邮信息产业技术研究院有限公司 | Smart light pole-based complex city terrain navigation system and navigation method |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819721A (en) * | 2015-05-07 | 2015-08-05 | 成都曙光光纤网络有限责任公司 | Navigation system |
| CN105489045A (en) * | 2015-12-29 | 2016-04-13 | 生迪智慧科技有限公司 | Illumination device, traffic information determination method and traffic information determination system |
| CN105634578A (en) * | 2015-12-29 | 2016-06-01 | 九派逐浪（北京）网络通讯技术股份有限公司 | Beam forming device, intelligent antenna and wireless communication equipment |
| CN105722293A (en) * | 2016-03-24 | 2016-06-29 | 厦门市朗星节能照明股份有限公司 | Intelligent streetlamp pole |
| CN106326414A (en) * | 2016-08-24 | 2017-01-11 | 国网天津市电力公司 | Street light site navigating method |
| CN106646335A (en) * | 2016-09-20 | 2017-05-10 | 常州海蓝利科物联网技术有限公司 | Positioning device based on intelligent street lamp communication network and using method thereof |
| CN107843906A (en) * | 2016-09-21 | 2018-03-27 | 千寻位置网络有限公司 | The navigation locating method and its system of mobile terminal |
| CN106405601A (en) * | 2016-10-21 | 2017-02-15 | 北京汽车集团有限公司 | Vehicle positioning method and apparatus, and vehicle |
| CN108230715A (en) * | 2016-12-15 | 2018-06-29 | 上海仪电（集团）有限公司中央研究院 | A kind of intelligent guidance system and method based on street lamp |
| CN108225320B (en) * | 2016-12-22 | 2022-02-18 | 通用汽车环球科技运作有限责任公司 | Vehicle positioning system using V2X, sensors, and GNSS information |
| CN108225320A (en) * | 2016-12-22 | 2018-06-29 | 通用汽车环球科技运作有限责任公司 | Use the vehicle positioning system of V2X, sensor and GNSS information |
| CN108022438A (en) * | 2017-11-24 | 2018-05-11 | 南京云游智能科技有限公司 | Urban traffic guidance method, system and electric road sign apparatus based on NB-IoT |
| CN108282744A (en) * | 2018-03-30 | 2018-07-13 | 浙江方大智控科技有限公司 | Wisdom traffic system based on wisdom lamp stand |
| CN108282744B (en) * | 2018-03-30 | 2023-09-15 | 浙江方大智控科技有限公司 | Intelligent traffic system based on intelligent lamp post |
| CN108966135A (en) * | 2018-07-27 | 2018-12-07 | 武汉理工大学 | A kind of underground intercommunication secondary navigation system based on iBeacon technology |
| CN108966135B (en) * | 2018-07-27 | 2020-11-17 | 武汉理工大学 | Underground intercommunication auxiliary navigation system based on iBeacon technology |
| CN110231639A (en) * | 2019-06-26 | 2019-09-13 | 北京百度网讯科技有限公司 | Vehicle positioning method, device, equipment and medium |
| CN112213689A (en) * | 2019-07-09 | 2021-01-12 | 阿里巴巴集团控股有限公司 | Navigation method, positioning method, device and equipment |
| CN112344951A (en) * | 2020-10-29 | 2021-02-09 | 南京南邮信息产业技术研究院有限公司 | Smart light pole-based complex city terrain navigation system and navigation method |
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Application publication date: 20141210 |