CN106364526A - Tunnel construction new energy rail electric locomotive real-time high-precision automatic positioning system - Google Patents
Tunnel construction new energy rail electric locomotive real-time high-precision automatic positioning system Download PDFInfo
- Publication number
- CN106364526A CN106364526A CN201610839188.8A CN201610839188A CN106364526A CN 106364526 A CN106364526 A CN 106364526A CN 201610839188 A CN201610839188 A CN 201610839188A CN 106364526 A CN106364526 A CN 106364526A
- Authority
- CN
- China
- Prior art keywords
- beacon
- electric locomotive
- wireless
- central controller
- wireless beacon
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 31
- 238000010276 construction Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 3
- 239000000523 sample Substances 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 238000013480 data collection Methods 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 8
- 230000001413 cellular effect Effects 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- 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
- G01S1/08—Systems for determining direction or position line
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a tunnel construction new energy rail electric locomotive real-time high-precision automatic positioning system. The system comprises a central controller, a plurality of wireless beacons, a data collection module and a plurality of sensors. The multiple beacons are fixedly mounted in a tunnel. The central controller is mounted on a rail electric locomotive. The multiple beacons are connected with the central controller through a radio frequency transmission network. The data collection module is connected with the multiple sensors. The data collection module is connected with the central controller through the radio frequency transmission network. The central controller is connected with a remote monitor terminal and a handheld centralized control terminal through a WIFI communication network. The system is simple in structure principle, the real-time position monitoring of the rail electric locomotive is achieved, information bases are provided for adjustment of the operation state of the rail electric locomotive in time, and thus support is provided for intelligent control over the rail electric locomotive.
Description
Technical field
The present invention relates to orbit motor car field of locating technology, specially a kind of tunnel construction new energy rail electric locomotive is in fact
When High Precision Automatic alignment system.
Background technology
With the propulsion of urbanization process, for guiding urban structure readjustment, optimize space layout, improve land use effect
Rate, China constantly advances the construction of urban track traffic, and each place government also actively prepares, and submits Construction of Urban Rail Traffic rule to
Draw.This all will bring the huge market demand for each sub-industry of urban track traffic.
Traction locomotive, as the visual plant in urban rail transit construction, is a kind of traction apparatuss of rail vehicle transport,
In track traffic capital construction, play an important role, be widely used in distance during tunnel piercing, large-tonnage material transportation.
Especially widely use in the constructing tunnel construction such as city underground, bomb shelter, flood discharge passage construction.Most of tunnel transport at present
Locomotive is all electric locomotive, and the tunnel construction orbit motor car supplying DC source using new forms of energy power module is research and development
Main flow.How to realize under tunnel adverse circumstances, the real-time high-precision positioning of orbit motor car is current tunnel construction track
One big difficult point of electric locomotive systematic study.
For positioning, the system being widely used at present has mobile cellular net, gps global positioning system and China
Big-dipper satellite alignment system of independent research etc..Gps, BEI-DOU position system are positioned using the multi-satellite spreading all over space,
Have high precision, round-the-clock the features such as, be widely used in the whole world, in personal location navigation, the management and running of shipping vehicle, army
Play a significant role in thing.But, gps, BEI-DOU position system in building, the region that is blocked of inferior satellite-signal,
Cannot normally position.With the development of mobile cellular communication network, occur in that and mobile cellular network location technology is positioned with gps
The a-gps alignment system that system combines, which overcomes and haves the shortcomings that after gps satellite-signal is blocked to position blind area, fixed
Position aspect has some superiority.Because in tunnel depths, gps signal and ground moving cellular network signals all cannot reach,
This just constrains application in tunnel construction for these technology, and tunnel construction orbit motor car real-time high-precision positioning must separately be warded off
Path.
In addition, the wire signal based on rfid technology of identification transmits tunnel placement system, entered by launching radiofrequency signal
Row data exchange and identification, its positioning precision is poor, exist 5 meters about of position error it is impossible to meet tunnel construction during
The requirement to positioning precision for some ad-hoc locations.
Content of the invention
It is an object of the invention to provide a kind of tunnel construction new energy rail electric locomotive real-time high-precision is automatically positioned and is
System, to solve the problems, such as to propose in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme: a kind of tunnel construction new energy rail electric locomotive is real
When High Precision Automatic alignment system, including central controller, multiple wireless beacon, data acquisition module and multiple sensor,
The plurality of wireless beacon is fixedly mounted in tunnel, and described central controller is arranged on orbit motor car, and described central authorities
In controller, mobile beacon is installed, the plurality of wireless beacon passes through wireless radio frequency transmission network connection central controller, institute
State data acquisition module and connect multiple sensors, described data acquisition module passes through wireless radio frequency transmission network connection central authorities and controls
Device, described central controller connects remote monitoring terminal and hand-held collection control terminal respectively by wifi communication network；
Also include sonar unit, described sonar unit is fixedly mounted at wireless beacon.
Preferably, the plurality of wireless beacon include the first wireless beacon, the second wireless beacon, the 3rd wireless beacon, n-th
Wireless beacon, n is the integer more than 3, and between two neighboring wireless beacon, spacing is 90 meters -110 meters.
Preferably, the plurality of sensor includes infrared probe, ultrasonic probe, video sensor and automatic Pilot track
Electric locomotive position and speed aiding sensors, described infrared probe, ultrasonic probe, video sensor are arranged on orbit motor Herba Plantaginis
Portion, described automatic Pilot orbit motor truck position velocity aid sensor is arranged on orbit motor car wheel.
Preferably, described wireless radio frequency transmission network adopts the transmission channel of 2.4g less radio-frequency.
Preferably, its using method comprises the following steps:
A, lay multiple wireless beacons in tunnel in advance, timing send radiofrequency signal, the position of wireless beacon is tested
Go out and be stored in computer；
One mobile beacon is carried on the central controller on b, orbit motor car, this mobile beacon periodically receives tunnel
In road after the signal that the nearest wireless beacon of orbit motor car sends；
C, now, locomotive mobile beacon sends answer signal to this terrestrial wireless beacon, you can knows and carries mobile beacon
Orbit motor parking stall in the range of the wireless signal of this fixed beacon: the signal intensity being received according to fixed beacon, to estimate
Meter orbit motor car and the distance of the fixed beacon nearest apart from locomotive, realize positioning.
Compared with prior art, the invention has the beneficial effects as follows:
(1) present configuration principle simple it is achieved that real-time location monitoring to orbit motor car, in time for orbit motor
The adjustment of car running status provides Information base, thus providing support for the Based Intelligent Control of orbit motor car.
(2) present invention passes through to arrange multiple wireless beacons, and it is unstable and of poor quality to solve transmission of wireless signals, and it is fixed to lead to
The problem of position low precision.
(3) present invention, by installing sonar unit at wireless beacon additional, is optimized to less radio-frequency location technology, realizes
Being accurately positioned on the basis of original 2-3 rice position error.
Brief description
Fig. 1 is present configuration schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, the present invention provides a kind of technical scheme: a kind of tunnel construction new energy rail electric locomotive is high-precision in real time
Degree automatic station-keeping system, including central controller 1, multiple wireless beacon, data acquisition module 2 and multiple sensor, described
Multiple wireless beacons are fixedly mounted in tunnel, and described central controller 1 is arranged on orbit motor car, and described central authorities control
In device 1, mobile beacon is installed, the plurality of wireless beacon connects central controller 1 by wireless radio frequency transmission network 3, wirelessly
Radio frequency transmission network 3 adopts the transmission channel of 2.4g less radio-frequency；Described data acquisition module 2 connects multiple sensors, described
Data acquisition module 2 connects central controller 1 by wireless radio frequency transmission network 3, and described central controller 1 is communicated by wifi
Network 4 connects remote monitoring terminal 5 and hand-held collection control terminal 6 respectively；Also include sonar unit 7, the fixing peace of described sonar unit 7
It is contained at wireless beacon, the present invention, by installing sonar unit at wireless beacon additional, is optimized to less radio-frequency location technology,
Realize being accurately positioned on the basis of original 2-3 rice position error.
In the present embodiment, multiple wireless beacons include the first wireless beacon 8, the second wireless beacon 9, the 3rd wireless beacon
10th, the n-th wireless beacon, n is the integer more than 3, and between two neighboring wireless beacon, spacing is 90 meters -110 meters.Wireless beacon
Position needs Dynamic calculation, using the dynamic calculation of wheel circumference, counts vehicle wheel rotation circle by being arranged on sensor on wheel
Number, to determine orbit motor car travel distance, so that it is determined that new wireless beacon installation site, it is multiple wireless that the present invention passes through setting
Beacon, solves that transmission of wireless signals is unstable and of poor quality, leads to the problem of positioning precision difference.
In the present embodiment, multiple sensors include infrared probe 11, ultrasonic probe 12, video sensor 13 and automatically drive
Sail orbit motor truck position velocity aid sensor 14, described infrared probe 11, ultrasonic probe 12, video sensor 13 are arranged on
Orbit motor Herba Plantaginis portion, described automatic Pilot orbit motor truck position velocity aid sensor 14 is arranged on orbit motor car wheel
On, in the present invention, by rail electric locomotive is anterior, the sensing device furthers such as infrared probe, ultrasonic probe, video sensor are installed, come
Judge preceding object species type, and orbit motor overall height precision real-time positioning system matches, timely and effective obstacle avoidance.
The using method of the present invention comprises the following steps:
A, lay multiple wireless beacons in tunnel in advance, timing send radiofrequency signal, the position of wireless beacon is tested
Go out and be stored in computer；
One mobile beacon is carried on the central controller on b, orbit motor car, this mobile beacon periodically receives tunnel
In road after the signal that the nearest wireless beacon of orbit motor car sends；
C, now, locomotive mobile beacon sends answer signal to this terrestrial wireless beacon, you can knows and carries mobile beacon
Orbit motor parking stall in the range of the wireless signal of this fixed beacon: the signal intensity being received according to fixed beacon, to estimate
Meter orbit motor car and the distance of the fixed beacon nearest apart from locomotive, realize positioning.
Present configuration principle simple it is achieved that real-time location monitoring to orbit motor car, be orbit motor car in time
Running status adjustment provides Information base, thus providing support for the Based Intelligent Control of orbit motor car.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and can carry out multiple changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system, including central controller (1), many
Individual wireless beacon, data acquisition module (2) and multiple sensor it is characterised in that: the fixed installation of the plurality of wireless beacon
In tunnel, described central controller (1) is arranged on orbit motor car, and is provided with movement in described central controller (1)
Beacon, the plurality of wireless beacon connects central controller (1), described data acquisition module by wireless radio frequency transmission network (3)
Block (2) connects multiple sensors, and described data acquisition module (2) connects central controller by wireless radio frequency transmission network (3)
(1), described central controller (1) connects remote monitoring terminal (5) and hand-held collection control terminal respectively by wifi communication network (4)
(6)；
Also include sonar unit (7), described sonar unit (7) is fixedly mounted at wireless beacon.
2. a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system according to claim 1,
It is characterized in that: the plurality of wireless beacon includes the first wireless beacon (8), the second wireless beacon (9), the 3rd wireless beacon
(10), the n-th wireless beacon, n is the integer more than 3, and between two neighboring wireless beacon, spacing is 90 meters -110 meters.
3. a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system according to claim 1,
It is characterized in that: the plurality of sensor includes infrared probe (11), ultrasonic probe (12), video sensor (13) and automatically
Drive orbit motor truck position velocity aid sensor (14), described infrared probe (11), ultrasonic probe (12), video sensor
(13) it is arranged on orbit motor Herba Plantaginis portion, described automatic Pilot orbit motor truck position velocity aid sensor (14) is installed in-orbit
On road electric locomotive wheel.
4. a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system according to claim 1,
It is characterized in that: described wireless radio frequency transmission network (3) adopts the transmission channel of 2.4g less radio-frequency.
5. realize a kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system described in claim 1
Using method it is characterised in that: its using method comprises the following steps:
A, lay multiple wireless beacons in tunnel in advance, timing send radiofrequency signal, the position of wireless beacon is measured simultaneously
It is stored in computer；
One mobile beacon is carried on the central controller on b, orbit motor car, this mobile beacon periodically receives in tunnel
After the signal that the nearest wireless beacon of orbit motor car sends；
C, now, locomotive mobile beacon sends answer signal to this terrestrial wireless beacon, you can know the rail carrying mobile beacon
Road electric locomotive is located in the range of the wireless signal of this fixed beacon；The signal intensity being received according to fixed beacon, to estimate rail
Road electric locomotive and the distance of the fixed beacon nearest apart from locomotive, realize positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839188.8A CN106364526B (en) | 2016-09-22 | 2016-09-22 | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839188.8A CN106364526B (en) | 2016-09-22 | 2016-09-22 | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106364526A true CN106364526A (en) | 2017-02-01 |
| CN106364526B CN106364526B (en) | 2018-01-16 |
Family
ID=57898004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839188.8A Active CN106364526B (en) | 2016-09-22 | 2016-09-22 | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106364526B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026851A (en) * | 2020-11-06 | 2020-12-04 | 深圳市视晶无线技术有限公司 | Method and system for monitoring obstacles in front of train |
| CN112313663A (en) * | 2018-06-18 | 2021-02-02 | 祖克斯有限公司 | Occlusion aware planning |
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
| US11802969B2 (en) | 2018-06-18 | 2023-10-31 | Zoox, Inc. | Occlusion aware planning and control |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6371416B1 (en) * | 2000-08-01 | 2002-04-16 | New York Air Brake Corporation | Portable beacons |
| CN102244897A (en) * | 2011-08-29 | 2011-11-16 | 南车南京浦镇车辆有限公司 | Method for locating subway train based on RSSI (Received Signal Strength Indicator) |
| CN102887158A (en) * | 2012-09-12 | 2013-01-23 | 上海富欣智能交通控制有限公司 | Train position detection method |
| CN102975748A (en) * | 2012-11-29 | 2013-03-20 | 北京全路通信信号研究设计院有限公司 | Train positioning and speed measuring method and system |
| CN103220777A (en) * | 2013-01-05 | 2013-07-24 | 东莞市力王电池有限公司 | Mobile device positioning system |
| CN103818407A (en) * | 2014-02-13 | 2014-05-28 | 南京邮电大学 | Method for positioning rail vehicles in real time on basis of radio frequency identification |
| CN205206878U (en) * | 2015-12-08 | 2016-05-04 | 合肥工大高科信息科技股份有限公司 | Accurate positioner of mine unmanned engine |
-
2016
- 2016-09-22 CN CN201610839188.8A patent/CN106364526B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6371416B1 (en) * | 2000-08-01 | 2002-04-16 | New York Air Brake Corporation | Portable beacons |
| CN102244897A (en) * | 2011-08-29 | 2011-11-16 | 南车南京浦镇车辆有限公司 | Method for locating subway train based on RSSI (Received Signal Strength Indicator) |
| CN102887158A (en) * | 2012-09-12 | 2013-01-23 | 上海富欣智能交通控制有限公司 | Train position detection method |
| CN102975748A (en) * | 2012-11-29 | 2013-03-20 | 北京全路通信信号研究设计院有限公司 | Train positioning and speed measuring method and system |
| CN103220777A (en) * | 2013-01-05 | 2013-07-24 | 东莞市力王电池有限公司 | Mobile device positioning system |
| CN103818407A (en) * | 2014-02-13 | 2014-05-28 | 南京邮电大学 | Method for positioning rail vehicles in real time on basis of radio frequency identification |
| CN205206878U (en) * | 2015-12-08 | 2016-05-04 | 合肥工大高科信息科技股份有限公司 | Accurate positioner of mine unmanned engine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112313663A (en) * | 2018-06-18 | 2021-02-02 | 祖克斯有限公司 | Occlusion aware planning |
| US11802969B2 (en) | 2018-06-18 | 2023-10-31 | Zoox, Inc. | Occlusion aware planning and control |
| CN112313663B (en) * | 2018-06-18 | 2024-05-31 | 祖克斯有限公司 | Occlusion awareness planning |
| CN112026851A (en) * | 2020-11-06 | 2020-12-04 | 深圳市视晶无线技术有限公司 | Method and system for monitoring obstacles in front of train |
| CN112596027A (en) * | 2020-11-06 | 2021-04-02 | 广州艾目易科技有限公司 | High-precision positioning method and system for train in tunnel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106364526B (en) | 2018-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108898880B (en) | Vehicle control method and system | |
| CN106364526B (en) | A kind of tunnel construction new energy rail electric locomotive real-time high-precision automatic station-keeping system | |
| CN100568143C (en) | A kind of middle-size and small-size no-manned machine reclaiming positioning apparatus | |
| US11030896B2 (en) | Real-time traffic information collection | |
| CN107010088B (en) | A kind of railway track construction safety pre-warning system and method | |
| CN105551097B (en) | A kind of on board unit, vehicle positioning method and path identification method | |
| CN109542105A (en) | A kind of subgrade and pavement Intelligent unattended rcc system | |
| CN107024601B (en) | A kind of the Along Railway wind measurement method and control system of control of intelligently being continued a journey based on unmanned aerial vehicle group | |
| CN106959434A (en) | A kind of mine unmanned plane overall height Accuracy Positioning and method based on UWB | |
| CN105469596B (en) | A kind of mine downhole intelligent traffic control system and method | |
| CN102869090A (en) | AUV (autonomous underwater vehicle)-assisted based underwater wireless sensor network positioning method | |
| CN107905158B (en) | Intelligent lane isolation method | |
| CN104090264B (en) | A kind of vehicle positioning method based on ultra broadband passive RF label | |
| CN103625507A (en) | Train tracking approaching early warning method for high speed railway and system thereof | |
| CN104408972A (en) | Mine vehicle anti-collision device based on DGPS (differential global positioning system) and control method thereof | |
| CN101833102A (en) | Navigation method and device of electric power line inspection helicopter | |
| CN104807440A (en) | Full automatic high-frequency ground settlement monitoring method for airport | |
| CN104408952A (en) | Reversible lane control method and corresponding control system | |
| CN106332106A (en) | Wireless analog signal testing system | |
| CA3146823A1 (en) | Vechicle location determining system and method | |
| CN104895375A (en) | Automatic plane garage system based on wheel-type vehicle-carrying device | |
| CN104777500B (en) | Roll car travel direction and Seeding location high-precision measuring system and method | |
| CN106772461A (en) | The aerial checking system of microwave landing aids and application method | |
| CN202395385U (en) | Sag observation remote control travelling trolley based on global positioning system (GPS) positioning technique | |
| CN110658493B (en) | Lane-level vehicle positioning method, positioning system and intelligent spike |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |