CN106443074B - A kind of tachymeter error detection and bearing calibration - Google Patents
A kind of tachymeter error detection and bearing calibration Download PDFInfo
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- CN106443074B CN106443074B CN201610940633.XA CN201610940633A CN106443074B CN 106443074 B CN106443074 B CN 106443074B CN 201610940633 A CN201610940633 A CN 201610940633A CN 106443074 B CN106443074 B CN 106443074B
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- tachymeter
- time
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- gps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of tachymeter error detection and bearing calibrations, utilize tachymeter essential information data, GPS data, speedometer data, analyze the accuracy rate of data acquisition time in tachymeter data, the error detection to all tachymeter clock problems is completed, and problematic tachymeter is automatically corrected, ensures error within 30 seconds in the case where data volume is sufficiently large.
Description
Technical field
The invention belongs to field of intelligent transportation technology, in particular to a kind of to be based on tachymeter essential information, GPS data and survey
Fast instrument measurement data carries out tachymeter error detection and bearing calibration.
Background technique
Tachymeter is the instrument for measuring the travel speed of vehicle.Tachymeter vehicle once discovery is driven over the speed limit, it will
The image for shooting violation vehicle, records time at that time and target speed per hour.Tachymeter is also to have independent software and hardware system
Equipment has independent system time, but due to power-off restarting, maintenance are restarted etc., if corrective maintenance equipment system not in time
Unite the time, can and the standard time generate deviation, and then lead to data acquisition time mistake, it is final influence vehicle location calculate and its
The precision that he calculates.
Vehicle GPS data include lorry GPS data, car GPS data, hazardous materials transportation vehicle GPS data and other portions
Classifying type vehicle GPS data, satellite clock is utilized in they, and GPS satellite is equipped with high-precision atomic clock (rubidium clock and caesium clock),
It is far superior to tachymeter itself clock in time accuracy.So carrying out error detection and school to tachymeter clock using GPS data
Just, it can achieve more excellent effect.
Currently, for the technical solution of tachymeter clock error detection correction, there are two main classes: one is artificial error detections and artificial
Straightened up in place, it is time-consuming and laborious；Another be by installing LED clock display screen at the top of tested standard vehicle, by calculating,
The running time that the running time recorded on picture of taking pictures records on LED clock screen is compared, to test the speed to section and be
The time value of system is calibrated, and this method once can only carry out error detection and correction for an equipment, and other correlations is needed to set
Standby support, correction result is affected by external condition, not very practical.
Summary of the invention
Main problem to be solved by this invention: the prior art is overcome greatly to rely on artificial and external equipment, and error detection school
The bad situation of plus effect provides the method for a kind of tachymeter error detection and correction, carries out error detection and correction, knot using GPS clock
Fruit accuracy rate is high；Error detection and correction can be achieved to be fully automated, and greatly alleviate the investment of manpower, material resources and financial resources.
The technology of the present invention solution: a kind of tachymeter error detection and bearing calibration are substantially carried out two-step analysis operation.Time
Synchronism analysis, it is therefore an objective to analyze the accuracy rate of data acquisition time in tachymeter data, assessment equipment time deviation is to vehicle
The influence that position calculates, and data supporting is provided for the self-test and maintenance of equipment.Synchronousness correction, can carry out clock
The tachymeter of correction carries out clock and automatically corrects, and feeds back to the tachymeter that cannot be automatically corrected, artificial straightened up in place.
The present invention is based on the progress of tachymeter essential information, GPS data and speedometer data, specific steps are realized such as
Under:
Step 1: search common existing license plate in GPS data and tachymeter data, record the vehicle by tachymeter when
Between；
Step 2: calculating the distance between GPS point and location point of tachymeter of current vehicle, and adjacent with the vehicle previous
A GPS point is compared with the minimum range of current tachymeter location point and time small distance；It, will be minimum if being less than minimum range
Range points replace with the GPS point of the current vehicle, while the smallest point range information before secondary dot range information is updated to；If
Greater than minimum range, it is less than time small distance, then replaces the GPS point that time small distance is recorded as the current vehicle, minimum range records not
Become；If current distance is greater than time small distance, directly skip, carries out the judgement of next record；After having traversed all data, finally
Record distance minimum and apart from secondary two small GPS points；
Step 3: the two is respectively apart from the distance of tachymeter, time according to the distance apart from smallest point and apart from secondary dot
Difference and speed, fill up third point as filling up a little, and it is a little point just past tachymeter section that this, which is filled up, while recording this
Fill up the time difference of time and tachymeter time a little；
Step 4: circulation executes the first, second and third step, until the GPS data end of scan；
Step 5: being directed to each tachymeter, rejecting the GPS point recorded under the tachymeter and tachymeter distance is more than threshold values
Vehicle；
Step 6: it is inclined to calculate the time of the GPS point of remaining vehicle and the time of tachymeter detection time in each tachymeter
Difference, and the average value of the time deviation of all sample minimum range points in the tachymeter is further calculated as current tachymeter
System time deviation；
Step 7: analyzing the system time deviation of each tachymeter, this is thought if the threshold value that time deviation is less than setting
The time of the data of tachymeter acquisition is accurately, otherwise it is assumed that there are deviations for the system time of the tachymeter；
Step 8: using third step obtain it is all fill up a time deviation as correction value tachymeter be corrected, often
Amendment is primary, is repeated the 6th step, calculates the sample of mean timing error and error within the set time apart from smallest point
Ratio shared by this, and compares before correction, if average time difference becomes smaller while error is within the set time shared by sample
Ratio increases, then it is assumed that before effect is better than correction after correction, records the corrected value, otherwise skips and carry out next calibration samples
Correction, until all corrected with all time differences filled up a little；
Step 9: being all calculated in the time of the average time difference in the 6th step and setting again after the completion of correction
Sample proportion, new error detection conclusion after being corrected.
In the third step, the time filled up a little are as follows: previous point is d1 apart from current tachymeter distance, and the time is
T1, distance of the latter point apart from current tachymeter are d2, time t2, then fill up time a little for t1+d1/ ((d1+d2)/
(t2-t1))。
In 5th step, threshold value is set as 1KM.
In 7th step, the given threshold of time deviation was less than 30 seconds.
In 8th step and the 9th step, the time set is one minute.
The principle of the invention is: the basic principle of equipment self-inspection and collimation technique be using GPS time as fiducial time, for
Fixed equipment, analytical equipment detect the GPS data time returned at equipment the time of vehicle and vehicle, statistical time deviation
Vehicle number Zhan always detects the ratio of vehicle number, as the time accuracy rate of equipment in 60 seconds.Low for time accuracy rate sets
It is standby, the distribution situation of the equipment time deviation is further analyzed, the equipment stable to time deviation profile proposes to be directed to the equipment
Clock synchronous calibration scheme.The equipment unstable to time deviation profile, feedback device number, artificial field calibration.
The advantages of the present invention over the prior art are that:
(1) automatic Iterative of the present invention corrects, and in the enough situations of data volume, calibration result is become better and better.It tests the speed to each
Every sample of instrument, obtained one just past the tachymeter section GPS point record information, to all samples respectively into
Otherwise row correction skips the correction for carrying out next sample as long as before calibration result is better than, retaining current results, until
All calibration samples are attempted.In the case where data volume is sufficiently large, an optimal sample will necessarily be found, with the sample correction
Afterwards, before effect is best, therefore the present invention guarantees that effect is better than correction after correcting, and gradually increasing with data volume, correction effect
Fruit is become better and better.
(2) present invention is directed to tachymeter, and using tachymeter essential information data, GPS data, speedometer data are divided
The accuracy rate of data acquisition time in tachymeter data is analysed, completes the error detection to all tachymeter clock problems, and to problematic
Tachymeter automatically corrected, ensure error within 30 seconds in the case where data volume is sufficiently large.
(3) GPS satellite is equipped with high-precision atomic clock (rubidium clock and caesium clock), using this characteristic of GPS data, automatically
The analysis of the accuracy rate of the data acquired to tachymeter equipment is completed, the problematic tachymeter of clock is found, tests the speed to this part
Instrument carries out clock correction, and the tachymeter that effect remains unchanged poor after cannot correcting or correcting carries out automatic feedback, is showed by staff
Field correction.
(4) present invention is directed to every tachymeter, sets two clock error detection Judging index, and all sample mean times miss
Difference and sample proportion of the error at one minute, and can be according to quality of data situation spirit to the criterion of tachymeter state
Setting living.
(5) calibration samples of the present invention select the point after filling up.While finding error detection sample, find apart from tachymeter
Two points of time recently, according to the time that former and later two are put, third point is filled up in position, which is just past tachymeter
The point of section is filled up the time a little with this and is corrected, and calibration result is more excellent.
Detailed description of the invention
Fig. 1 is realization principle figure of the present invention.
Specific embodiment
With reference to the accompanying drawing and implement the present invention is described in detail.
As shown in Figure 1, the present invention analyzes the relationship of GPS data Yu speedometer data first, there are two hypotheses,
The time of GPS data is accurate, and tachymeter location information is accurate.For fixed equipment, analytical equipment detect time of vehicle with
The GPS data time that vehicle returns at equipment, statistical sample time error determine tachymeter clock status.
To problematic tachymeter, it is corrected.According to time, speed, the relationship of distance, tachymeter is passed through according to vehicle
The data information of front and back two o'clock fills up third point, which is the GPS point just past tachymeter section, with the time of the point
Tachymeter is carried out attempting correction as calibration samples and observes calibration result, if before calibration result is better than, retaining the value
The correction for continuing next sample, is otherwise directly skipped, until the correction of all sample standard deviations is completed.
The error detection and correction to tachymeter clock problem may be implemented in the process, right in the case where data volume is sufficiently large
Only the tachymeter of clock bad completes correction, before guaranteeing calibration result better than correction.
It is implemented as follows:
Step 1: search common existing license plate in GPS data and tachymeter data, record the vehicle by tachymeter when
Between.
Step 2: calculate the GPS point and the distance between location point of tachymeter of current vehicle, and with GPS before the vehicle
Point is compared with the minimum range of current tachymeter and time small distance.If being less than minimum range, minimum range record is replaced
It is changed to the GPS record of the current vehicle, while the minimum range information before secondary dot range information is updated to；If more than minimum
Distance is less than time small distance, then replaces the GPS time record that time small distance is recorded as the current vehicle, minimum range records constant；
If current distance is greater than time small distance, directly skip, carries out the judgement of next record.It is final to remember after having traversed all data
It records lower distance minimum and records information apart from secondary two small GPS.
Step 3: the two is respectively apart from the distance of tachymeter, time according to the distance apart from smallest point and apart from secondary dot
Difference, speed fill up third point as filling up a little, and it a little is point just past tachymeter section that this, which is filled up, while recording this
Fill up the time difference of time Yu tachymeter time.
Previous point is d1, time t1, distance of the latter point apart from current tachymeter apart from current tachymeter distance
For d2, time t2, then the time filled up a little is t1+d1/ ((d1+d2)/(t2-t1)).
Step 4: circulation executes the first, second and third step, until the GPS data end of scan.
Step 5: being directed to each tachymeter, rejecting the GPS point recorded under the tachymeter and tachymeter distance is more than threshold values
Vehicle.Threshold value is set as 1KM.
Step 6: the time deviation of the GPS time of remaining vehicle and tachymeter detection time in each tachymeter is calculated, and
Further calculate system of the average value of the time deviation of all sample minimum range points in the tachymeter as current tachymeter
Time deviation.
Step 7: analyzing the system time deviation of each tachymeter, the tachymeter is thought if time deviation was less than 30 seconds
Time be acceptable, otherwise it is assumed that there are deviations for the system time of the tachymeter.
Step 8: using third step obtain it is all fill up a time deviation as correction value tachymeter be corrected, often
Amendment is primary, is repeated the 6th step, calculates the sample institute of mean timing error and error in one minute apart from smallest point
The ratio accounted for, and compares before correction, if average time difference becomes smaller while error sample proportion in one minute increases,
Effect is better than before correcting after then thinking correction, records the corrected value, otherwise skips the correction for carrying out next calibration samples, directly
Extremely all corrected with all time differences filled up a little.
Step 9: the average time difference in the 6th step and sample in one minute are all calculated again after the completion of correction
Proportion, new error detection conclusion after being corrected.
In short, the present invention carries out error detection and correction using GPS clock, as a result accuracy rate is high；Error detection and correction can be achieved
It is fully automated, greatly alleviates the investment of manpower, material resources and financial resources；Iteration correction, in the case where data volume abundance, correction effect
Fruit is become better and better, and theoretically be may be implemented the time difference and is gradually reduced until 0.It analyzes by many experiments, is carried out using this method
The error detection of tachymeter clock and correction can accurately find out the problematic tachymeter of clock, to can corrected tachymeter carry out
After correction, the time difference be can control within 30 seconds, and effect is preferable.
Above embodiments are provided just for the sake of the description purpose of the present invention, and are not intended to limit the scope of the invention.This
The range of invention is defined by the following claims.It does not depart from spirit and principles of the present invention and the various equivalent replacements made and repairs
Change, should all cover within the scope of the present invention.
Claims (5)
1. a kind of tachymeter error detection and bearing calibration, it is characterised in that: carry out error detection automatically using GPS data and aligning step is real
It is now as follows:
Step 1: searching common existing license plate in GPS data and tachymeter data, time of the vehicle by tachymeter is recorded；
Step 2: being sat by longitude and latitude for all GPS points of existing vehicle common in GPS data and tachymeter data
The linear distance of GPS point Yu current tachymeter is calculated in mark, and picks out in all distances apart from the smallest two GPS
Point, wherein being denoted as minimum range apart from the smallest, a remaining distance is denoted as time small distance, after having traversed all data,
Distance is minimum and apart from secondary two small GPS points under final entry；
Step 3: according to the distance apart from smallest point and apart from secondary dot, the two respectively apart from the distance of tachymeter, the time difference and
Speed, fills up third point as filling up a little, and it a little is point just past tachymeter section that this, which is filled up, while recording this and filling up
The time of point and the time difference of tachymeter time；
Step 4: circulation executes the first, second and third step, until the GPS data end of scan；
Step 5: being directed to each tachymeter, rejects the GPS point recorded under the tachymeter and tachymeter distance is more than the vehicle of threshold values
?；
Step 6: the time deviation of the time of the GPS point of remaining vehicle and tachymeter detection time in each tachymeter are calculated, and
Further calculate system of the average value of the time deviation of all sample minimum range points in the tachymeter as current tachymeter
Time deviation；
Step 7: analyzing the system time deviation of each tachymeter, think that this tests the speed if the threshold value that time deviation is less than setting
The time of the data of instrument acquisition is accurately, otherwise it is assumed that there are deviations for the system time of the tachymeter；
Step 8: using third step obtain it is all fill up a time deviation as correction value tachymeter be corrected, every amendment
Once, the 6th step is repeated, the sample institute of mean timing error and error within the set time apart from smallest point is calculated
The ratio accounted for, and compares before correction, if average time difference becomes smaller while error sample proportion within the set time
Increase, then it is assumed that before effect is better than correction after correction, record the corrected value, otherwise skip the school for carrying out next calibration samples
Just, until all having been corrected with all time differences filled up a little；
Step 9: sample in the time of the average time difference in the 6th step and setting is all calculated again after the completion of correction
Proportion, new error detection conclusion after being corrected.
2. tachymeter error detection according to claim 1 and bearing calibration, it is characterised in that: described to fill out in the third step
The time of complement point are as follows: previous point is d1 apart from current tachymeter distance, and time t1, the latter point is apart from current tachymeter
Distance is d2, time t2, then the time filled up a little is t1+d1/ ((d1+d2)/(t2-t1)).
3. tachymeter error detection according to claim 1 and bearing calibration, it is characterised in that: in the 5th step, threshold value is set
It is set to 1KM.
4. tachymeter error detection according to claim 1 and bearing calibration, it is characterised in that: in the 7th step, the time is inclined
The given threshold of difference was less than 30 seconds.
5. tachymeter error detection according to claim 1 and bearing calibration, it is characterised in that: the 8th step and the 9th step
In, the time set is one minute.
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| CN201610940633.XA CN106443074B (en) | 2016-10-25 | 2016-10-25 | A kind of tachymeter error detection and bearing calibration |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109946483A (en) * | 2019-04-15 | 2019-06-28 | 北京市计量检测科学研究院 | Test the speed standard set-up for a kind of scene |
| CN110501523B (en) * | 2019-08-26 | 2021-10-08 | 中国铁道科学研究院集团有限公司 | Fault detection system and method for train speed and distance measuring equipment |
| CN115311870B (en) * | 2022-06-14 | 2024-01-02 | 福建工程学院 | Expressway interval non-sensing speed measurement method based on multi-source data fusion |
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| DE19945121A1 (en) * | 1999-09-21 | 2001-04-12 | Mannesmann Vdo Ag | Navigation system for cars corrects gyro drift by frequent GPS direction measurements |
| CN1955639A (en) * | 2005-10-24 | 2007-05-02 | 何铁 | Calibration method for vehicle speed measuring instrument |
| US7277809B1 (en) * | 2006-09-12 | 2007-10-02 | International Business Machines Corporation | Radio frequency identification tag based speedometer calibration |
| CN102162733A (en) * | 2011-01-11 | 2011-08-24 | 哈尔滨工程大学 | Method for correcting autonomous underwater vehicle (AUV) dead reckoning navigation error in real time based on space vector modulation (SVM) |
| CN104569501A (en) * | 2014-12-23 | 2015-04-29 | 郑州宇通客车股份有限公司 | Beidou system-based vehicle speed ratio calibration system and method |
| CN105137124A (en) * | 2015-06-16 | 2015-12-09 | 辽宁省计量科学研究院 | High-precision highway speedometer calibration device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2787323A1 (en) * | 2013-04-05 | 2014-10-08 | Leica Geosystems AG | Measuring device with function for calibrating a display image position of an electronic reticule |
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- 2016-10-25 CN CN201610940633.XA patent/CN106443074B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19945121A1 (en) * | 1999-09-21 | 2001-04-12 | Mannesmann Vdo Ag | Navigation system for cars corrects gyro drift by frequent GPS direction measurements |
| CN1955639A (en) * | 2005-10-24 | 2007-05-02 | 何铁 | Calibration method for vehicle speed measuring instrument |
| US7277809B1 (en) * | 2006-09-12 | 2007-10-02 | International Business Machines Corporation | Radio frequency identification tag based speedometer calibration |
| CN102162733A (en) * | 2011-01-11 | 2011-08-24 | 哈尔滨工程大学 | Method for correcting autonomous underwater vehicle (AUV) dead reckoning navigation error in real time based on space vector modulation (SVM) |
| CN104569501A (en) * | 2014-12-23 | 2015-04-29 | 郑州宇通客车股份有限公司 | Beidou system-based vehicle speed ratio calibration system and method |
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