CN104637111A - Vehicle-mounted trajectory and mileage monitoring and recording system - Google Patents

Abstract

The invention discloses a vehicle-mounted trajectory and mileage monitoring and recording system including a mobile device and a cloud server; the mobile device adopts an ARM main control chip to respectively be communicated with a network module and a GPS module; a cloud server terminal controls service ID distribution and data parallel processing and distribution; when a task termination signal is received, a monitoring result is stored into a database; a self-adaptive Kalman wave filter is used for filtering original GPS data and simultaneously can calculate user real-time terminal information, obtained effective data are positioned and annotated in map service by using an improved vertical projection matching algorithm, and a vehicle driving route is eventually generated. The system can realize multi-platform simultaneous checking of the real-time monitoring data, greatly improves fluctuations and disturbances by using a single device for collecting the GPS data in cities, and also can generate an intuitive route map according with reality and user habits.

Description

Vehicle-mounted track and mileage monitoring and control recording system

Technical field

The invention belongs to transportation management field, relate more specifically to a kind of vehicle-mounted track and mileage monitoring and control recording system, by using intelligent terminal image data, realizing the travel situations record of vehicle.

Background technology

In transportation management field, people, by being allotted independently GPS accepting device to each by supervision vehicle, install and independently control and data transmission system, in addition, for the industry to amount of money sensitivity such as taxi, even need the repacking carried out vehicle on hardware.Certainly, these all considerably increase use cost and use difficulty.But under many circumstances, condition does not carry out so many equipment purchasing and hardware repacking.Meanwhile, user does not need to realize the accurate and strict monitoring of superfinishing yet.

GPS intelligent terminal is the important component part of intelligent transportation system (ITS system), and satellite positioning tech (GPS), Geographic Information System (GIS) and wireless communication technology are melted into all over the body by it.At present, satellite positioning-terminal is made up of 8/16 single-chip microcomputers, GSM/GPRS communication module, GPS module, LCD liquid crystal display etc. usually, and adopts lcd segment and main control chip group to be separated in split-type structural in two shells.Here introduce a kind of based on ARM920t processor and built-in Linux operating system, embedded intelligent terminal GPS technology combined with cdma network also designed.This terminal to have information such as the dynamic position of GPS terminal, time, states in real time by cdma wireless network linking to control center; the electronic chart with geographic information processing and query function shows, and the essential information such as accurate location, speed, direction of motion, terminal transport condition of terminal is monitored and inquired about; Report to the police (comprising initiative alarming and automatic alarm); Display scheduling information; The functions such as external equipment data acquisition, local temperature acquisition and remote monitoring.

Summary of the invention

1, object of the present invention.

The present invention is exactly for the problems referred to above and present situation, higher, the more wield solution of a kind of degree of freedom is proposed, make user can utilize the terminal device carried with, without the need to can realize the monitoring to vehicle need be supervised to any change of vehicle under general environment.

2, the technical solution adopted in the present invention.

The present invention includes mobile device and cloud server, mobile device uses ARM main control chip to communicate with mixed-media network modules mixed-media, GPS module respectively, when practical communication, two-way connection is all added with the change-over circuit of LVTTL level to RS 232 level, ARM main control chip receives the positional information that GPS module sends, resolution data encapsulates, then to transfer data to CDMA module, ITS Surveillance center is finally delivered to by cdma network access Internet; ARM main control chip receives and resolves the short message order that ITS control center sends, and is undertaken uploading positioning action by order; The information that system running state and ITS control center are sent is shown on liquid crystal display;

Cloud server end controls the distribution of service ID, parallel data processing and distribution, after receiving task termination signal, by monitored results stored in database; Adaptive Kalman filter is used to carry out the filtration of raw GPS data, user's real time terminal information can be calculated simultaneously, the vertical projection matching algorithm improved is used to locate in Map Services the valid data drawn, mark, the travel route of final generation vehicle, and by result stored in database, server constantly receives the raw GPS data of mobile device transmission by network, and according to time and service ID grouping, and the data handled well and result are sent to mobile device end.

3, beneficial effect of the present invention.

The present invention uses cloud computing technology, can realize multi-platformly checking real-time monitoring data simultaneously; In data processing, use adaptive Kalman filter method and vertical projection matching algorithm to carry out choosing of data filtering and map anchor point, very large improves the fluctuation and the interference that use single equipment in city, gather gps data; Further, finally realistic and route map directly perceived that is user habit can be generated.

Accompanying drawing explanation

Fig. 1 is system platform Organization Chart of the present invention.

Fig. 2 is terminal structure design drawing of the present invention.

Embodiment

Embodiment

Below in conjunction with accompanying drawing, describe embodiments of the present invention in detail.

The present invention includes mobile device and cloud server, mobile device uses ARM main control chip to communicate with mixed-media network modules mixed-media, GPS module respectively, when practical communication, two-way connection is all added with the change-over circuit of LVTTL level to RS 232 level, ARM main control chip receives the positional information that GPS module sends, resolution data encapsulates, then to transfer data to CDMA module, ITS Surveillance center is finally delivered to by cdma network access Internet; ARM main control chip receives and resolves the short message order that ITS control center sends, and is undertaken uploading positioning action by order; The information that system running state and ITS control center are sent is shown on liquid crystal display;

Cloud server end controls the distribution of service ID, parallel data processing and distribution, after receiving task termination signal, by monitored results stored in database; Adaptive Kalman filter is used to carry out the filtration of raw GPS data, user's real time terminal information can be calculated simultaneously, the vertical projection matching algorithm improved is used to locate in Map Services the valid data drawn, mark, the travel route of final generation vehicle, and by result stored in database, server constantly receives the raw GPS data of mobile device transmission by network, and according to time and service ID grouping, and the data handled well and result are sent to mobile device end.

Web service module, calls record and the result of vehicle monitoring between Web service program by service ID.Stylus printing equipment can be expanded, for print record document.

 

Embodiment below in conjunction with each module of Fig. 1 and Fig. 2 introducing system platform:

(1) intelligent terminal module

The storage of intelligent terminal adopts 4 MB NOR FLASH, 64 MB NAND FLASH and 32 MB SDRAM.NOR FLASH exchanges data by 16 bit data bus and CPU, is used for storing Uboot, linux kernel, file system; NAND FLASH stores application program, as the data-carrier store of system, as loaded electronic chart etc.For giving full play to the data-handling capacity of 32 arm processors, selecting the HY57V281620HG of 2 16 in parallel, exchanging data to build 32 SDRAM and ARM.SDRAM is mainly used as the running space of program, data and stack area in systems in which.

Terminal GPS module selects the iTrax100 of Fastrax company of Finland.This module supports the data layout of NMEA0183 and Sony ASC17 agreement.Data are sent to AT91RM9200 with fixing frame format by serial ports 3 by GPS module.GPS module needs to be equipped with special gps antenna and receives gps satellite signal.General in openr area, the gps satellite signal that need receive more than 3 just can accurately be located.

Master control uses serial ports UART2 with UART3 of AT91RM9200 to communicate with mixed-media network modules mixed-media, GPS module respectively, and when practical communication, two-way connection is all added with the change-over circuit of LVTTL level to RS 232 level.AT91RM9200 receives the positional information that GPS module sends from serial ports 3, parses wherein useful data and encapsulates, then give CDMA module with prescribed form by serial ports 2, finally delivers to ITS Surveillance center by cdma network access Internet; Receive and resolve the short message order that ITS control center sends, being undertaken uploading the operations such as location by order; The information that system running state and ITS control center are sent is shown on liquid crystal display.Terminal runs application, realizes two main concurrent thread.The first, Real-time Collection encapsulation gps data, and be sent to server.The second, part important information represents on a terminal screen by the vehicle traveling information data that real-time buffer memory sends.Application program has three key steps, and the first, send application to server, obtain service ID and start working.The second, normally work, realize concurrent thread.3rd, terminate whole monitoring flow process.4th, can select whether to export data (printing this monitor data by USB interface) by additional interface.

(2) Cloud Server module

Server end runs the data processor in whole system.Mainly realize three functions, the first, management service function.Server program controls the distribution of service ID, maintains parallel data processing and the distribution of variant task in real time.After receiving task termination signal, by monitored results stored in database.The second, data processing function.Use adaptive Kalman filter to carry out the filtration of raw GPS data, can calculate as distance travelled, running time, the user-defined details such as running cost simultaneously.The vertical projection matching algorithm improved is used by the valid data drawn to locate in the Map Services as free in Google Maps etc. of increasing income, mark, the final travel route generating vehicle, and by result stored in database.3rd, data transmit-receive function.Server constantly receives the raw GPS data of mobile device transmission by network, and according to time and service ID grouping.Processed good data and result also can be sent to mobile device end by server simultaneously.

(3) Web service module (based on Cloud Server)

User can inquire about record and the result of this vehicle monitoring between Web service program by the service ID of oneself.Keeper, can inquire about the record result had in all systems.

(1) algorithm introduction

(1) foundation of adaptive Kalman filter equation

Set up discrete adaptive Kalman filter model equation as follows:

(2) vertical projection matching algorithm

Complete process based on the vertical projection map-matching algorithm of the improvement of public transit vehicle can be divided into four large steps, and the priority occurred according to process, is followed successively by: 1) by query-relevant data storehouse, determine present running route; 2) initial matching; 3) coupling in travelling; 4) location terminates to judge, namely when vehicle drives to terminus, system is automatically carried out judging and terminated location.

Map-matching method step is as follows:

The definition of step 1, correlated variables and initialization;

Step 2: data base querying obtains present running route according to the map, and by the road information of this route stored in array;

Step 3: obtain new location estimation point;

Step 4: by location estimation Point matching on road:

Step 4.1: search from the nearest road shape of estimation point, whether judging distance is greater than threshold value, if be greater than, goes to step 4.2, otherwise, go to step 4.3;

Step 4.2: determine whether initial matching, if so, empties existing match point, goes to step 3, otherwise getting nearest historical juncture matching value is current matching value, then forwards step 3 to;

Step 4.3: find the arrangement sequence number of nearest road shape in whole road shape point arrangement;

Step 4.4: the sequence number judging nearest node whether headed by, one of tail node, if so, then get corresponding first bar section or section, end is vehicle current road segment, forward step 4.7 to, otherwise, find and record the front and back adjacent road shape point of this nearest shape point, performing next step;

Step 4.5: with the nearest shape point found out for starting point, with its two adjacent shape point and location estimation point for different terminals;

Step 4.6: the size of the angle that contrast location estimation vector is formed with two-way vector paragraph respectively, using the current road segment of section little for angle as location estimation point place;

Step 4.7: utilize vertical projection algorithm, obtains the projection of location estimation point at current road segment;

Step 5: determine whether initial alignment, if not initial alignment, then proceeds to step 6, otherwise, perform next step:

Step 5.1: judge completed continuous initial matching counts whether reach setting value, and if so, initial projections terminates, and proceeds to step 5.4, otherwise, perform next step;

Step 5.2: initial matching is counted and subtracted 1;

Step 5.3: the value recording this subpoint, forwards step 3 to;

Step 5.4: initial map match, sequentially contrasts the subpoint on continuous road, remove the point of point and the speed sharp increase retreated, the subpoint that choosing is left is the path adaptation point of the initial alignment of vehicle, and writes down the last effective matched position;

Step 5.5: terminate initial matching, step 3;

Step 6: the position matching in traveling;

Step 6.1: compare current matching point and the tandem of a front match point on road, if current matching position is rear or identical, then previous matching value is got in current matching position, forwards step 7 to, otherwise, forward step 6.2 to;

Step 6.2: calculate the vehicle average velocity from the nearest sampling section of current time, judge whether the maximum speed value being less than or equal to setting, if so, records current matching value, forwards step 7 to; Otherwise getting a front matched position is current matching position, forwards step 7 to;

Step 7: judge whether current road segment is section, terminal place, if so, goes to step 8; Otherwise, go to step 9;

Step 8: calculate the path length between match point to road terminal, judge whether to be less than setting threshold value, if so, end mark is set, goes to step 9, otherwise, directly go to step 9;

Step 9: judge whether to terminate location, if so, send out location ending request to the centre of location, go to step 10, otherwise, forward step 3 to;

Step 10: coupling end is exited.

Above-described embodiment does not limit the present invention in any way, and the technical scheme that the mode that every employing is equal to replacement or equivalent transformation obtains all drops in protection scope of the present invention.

Claims (6)

1. vehicle-mounted track and a mileage monitoring and control recording system, is characterized in that: comprise mobile device and cloud server:

Mobile device uses ARM main control chip to communicate with mixed-media network modules mixed-media, GPS module respectively, when practical communication, two-way connection is all added with the change-over circuit of LVTTL level to RS 232 level, ARM main control chip receives the positional information that GPS module sends, resolution data encapsulates, then to transfer data to CDMA module, ITS Surveillance center is finally delivered to by cdma network access Internet; ARM main control chip receives and resolves the short message order that ITS control center sends, and is undertaken uploading positioning action by order; The information that system running state and ITS control center are sent is shown on liquid crystal display;

Cloud server end controls the distribution of service ID, parallel data processing and distribution, after receiving task termination signal, by monitored results stored in database; Adaptive Kalman filter is used to carry out the filtration of raw GPS data, user's real time terminal information can be calculated simultaneously, the vertical projection matching algorithm improved is used to locate in Map Services the valid data drawn, mark, the travel route of final generation vehicle, and by result stored in database, server constantly receives the raw GPS data of mobile device transmission by network, and according to time and service ID grouping, and the data handled well and result are sent to mobile device end.

2. vehicle-mounted track according to claim 1 and mileage monitoring and control recording system, is characterized in that: also comprise Web service module, is called record and the result of vehicle monitoring by service ID between Web service program.

3. vehicle-mounted track according to claim 1 and 2 and mileage monitoring and control recording system, is characterized in that: also comprise and can expand stylus printing equipment, for print record document.

4. vehicle-mounted track according to claim 1 and mileage monitoring and control recording system, is characterized in that: map-matching method step is as follows:

The definition of step 1, correlated variables and initialization;

Step 2: data base querying obtains present running route according to the map, and by the road information of this route stored in array;

Step 3: obtain new location estimation point;

Step 4: by location estimation Point matching on road;

Step 5: determine whether initial alignment, if not initial alignment, then proceeds to step 6, otherwise, perform next step;

Step 6: the position matching in traveling;

Step 6.1: compare current matching point and the tandem of a front match point on road, if current matching position is rear or identical, then previous matching value is got in current matching position, forwards step 7 to, otherwise, forward step 6.2 to;

Step 6.2: calculate the vehicle average velocity from the nearest sampling section of current time, judge whether the maximum speed value being less than or equal to setting, if so, records current matching value, forwards step 7 to; Otherwise getting a front matched position is current matching position, forwards step 7 to;

Step 7: judge whether current road segment is section, terminal place, if so, goes to step 8; Otherwise, go to step 9;

Step 8: calculate the path length between match point to road terminal, judge whether to be less than setting threshold value, if so, end mark is set, goes to step 9, otherwise, directly go to step 9;

Step 9: judge whether to terminate location, if so, send out location ending request to the centre of location, go to step 10, otherwise, forward step 3 to;

Step 10: coupling end is exited.

5. vehicle-mounted track according to claim 4 and mileage monitoring and control recording system, is characterized in that: step 4 is as follows to road path method by location estimation Point matching:

Step 4.1: search from the nearest road shape of estimation point, whether judging distance is greater than threshold value, if be greater than, goes to step 4.2, otherwise, go to step 4.3;

Step 4.2: determine whether initial matching, if so, empties existing match point, goes to step 3, otherwise getting nearest historical juncture matching value is current matching value, then forwards step 3 to;

Step 4.3: find the arrangement sequence number of nearest road shape in whole road shape point arrangement;

Step 4.4: the sequence number judging nearest node whether headed by, one of tail node, if so, then get corresponding first bar section or section, end is vehicle current road segment, forward step 4.7 to, otherwise, find and record the front and back adjacent road shape point of this nearest shape point, performing next step;

Step 4.5: with the nearest shape point found out for starting point, with its two adjacent shape point and location estimation point for different terminals;

Step 4.6: the size of the angle that contrast location estimation vector is formed with two-way vector paragraph respectively, using the current road segment of section little for angle as location estimation point place;

Step 4.7: utilize vertical projection algorithm, obtains the projection of location estimation point at current road segment.

6. vehicle-mounted track according to claim 4 and mileage monitoring and control recording system, is characterized in that: it is that initial alignment step is as follows that described step 5 judges:

Step 5.1: judge completed continuous initial matching counts whether reach setting value, and if so, initial projections terminates, and proceeds to step 5.4, otherwise, perform next step;

Step 5.2: initial matching is counted and subtracted 1;

Step 5.3: the value recording this subpoint, forwards step 3 to;

Step 5.4: initial map match, sequentially contrasts the subpoint on continuous road, remove the point of point and the speed sharp increase retreated, the subpoint that choosing is left is the path adaptation point of the initial alignment of vehicle, and writes down the last effective matched position;

Step 5.5: terminate initial matching, step 3.