CN108917781B - Method for analyzing vehicle getting on and off axle based on sensing technology - Google Patents
Method for analyzing vehicle getting on and off axle based on sensing technology Download PDFInfo
- Publication number
- CN108917781B CN108917781B CN201810495278.9A CN201810495278A CN108917781B CN 108917781 B CN108917781 B CN 108917781B CN 201810495278 A CN201810495278 A CN 201810495278A CN 108917781 B CN108917781 B CN 108917781B
- Authority
- CN
- China
- Prior art keywords
- axz
- vehicle
- rest
- gyroscope
- racc
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005516 engineering process Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 16
- 238000010586 diagram Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to a method for analyzing the getting on and off of a vehicle on the basis of a sensing technology, which comprises the following steps: step 1): acquiring accelerometer and gyroscope data; step 2): fusing and calculating accelerometer and gyroscope data; step 3): judging vehicle driving map information; step 4): navigating the vehicle according to the map information; the method adopts the following hardware equipment, including: a mobile phone; the mobile phone comprises one or more processors, the mobile phone at least comprises a gyroscope, an accelerometer, a memory and a GPS receiver, the gyroscope, the accelerometer, the memory and the GPS receiver are respectively connected with the processors, the memory is used for storing one or more programs executed by the one or more processors, and the mobile phone also comprises a Bluetooth interface which can be used for being connected with a vehicle-mounted GPS navigator; the invention has the advantages of convenient use, high working efficiency and good coordination.
Description
Technical Field
The invention belongs to the technical field of positioning processing, and particularly relates to a method for analyzing the loading and unloading of a vehicle on the basis of a sensing technology.
Background
Along with the development of social economy, road infrastructure construction is more and more complete, the living standard of people is gradually improved, the holding capacity of automobiles is more and more, the economic exchange between cities is more frequent, people are not limited in small areas of their own lives, when driving in an unfamiliar area, the conditions of no road knowledge and wrong road walking are frequently caused, vehicle-mounted GPS navigator or mobile phone map navigation is equipment frequently used by people, and brings convenience for people to go out, but in the actual navigation process, because the number of viaducts in cities is large, the judgment of whether the vehicle is on the viaduct road or under the viaduct road mainly depends on the GPS signal at present, and in many cases, the GPS navigation continuously and accurately makes the judgment, therefore, correct navigation cannot be performed, and particularly, when a vehicle goes up and down a viaduct, information cannot be correctly navigated, so that a lot of inconvenience is brought to the driving of a vehicle owner; therefore, it is necessary to provide a method for analyzing the upper and lower axles of the vehicle based on the sensing technology, which has the advantages of reasonable structure, high accuracy, convenient use and wide application range.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for analyzing the upper and lower axles of a vehicle based on a sensing technology, which has the advantages of reasonable structure, high accuracy, convenience in use and wide application range.
The purpose of the invention is realized as follows: a method for analyzing the loading and unloading of a vehicle on the bridge based on sensing technology, the method comprising the steps of:
step 1): acquiring accelerometer and gyroscope data; the accelerometer acquires a vector R = [ Rx, Ry, Rz ]
And the included angle values Axr, Ayr and Azr between the vector R and the X, Y, Z; the accelerometer also obtains a measurement value Racc = [ RxAcc, RyAcc, RzAcc ]; the gyroscope acquires an angular velocity change Rate: assuming that the device is horizontally placed on an XY plane, the projections of an inertial force vector R on an XZ plane and a YZ plane are respectively Rxz and Ryz, an included angle formed by a Z axis and the Rxz vector and the Ryz is defined as Axz and Ayz, the gyroscope measures the change rate of an angle, firstly, assuming that the angle (namely Axz) rotated around the Y axis is measured at the time t0 and is defined as Axz0, and then, measuring the angle again at the time t1 to obtain Axz 1; the rate of change of angle is calculated as follows: RateAxz = (Axz 1-Axz 0)/(t 1-t 0);
step 2): fusing and calculating accelerometer and gyroscope data; introducing a new vector Rest = [ RxEst, RyEst, RzEst ], so that Rest (0) = Racc (0), then
RxEst（0）=RxAcc（0） RyEst（0）=RyAcc（0） RzEst（0）=RzAcc（0）
Making each equal time interval T measure once, the value range of the time interval T is 10ms-100ms, obtaining new measured values Racc (1), Racc (2), Racc (3), … … Racc (n), calculating new estimated values Rest (1), Rest (2), Rest (3), … … Rest (n) in each time interval;
suppose that in step n, there are two columns of known values Rest (n-1), Racc (n)
The right triangle formed by Rz and Rxz can be obtained according to the gyroscope vector diagram: tan (Axz) = Rx/Rz = > Axz = atan2(Rx, Rz),
given the known estimates RxEst (n-1) and RzEst (n-1), it can be derived: axz (n-1) = atan2(RxEst (n-1), RzEst (n-1)), the gyroscope measures the rate of change of the Axz angle, so the new angle Axz (n)) can be estimated as follows: axz (n) = Axz (n-1) + rateaxz (n) × T, and the same can be said: ayz (n) = Ayz (n-1) + rateayz (n) × T,
since RateAxz is directly readable by the gyroscope, the following equation can be obtained by using the average rotation speed RateAxzAvg: RateAxzAvg = (RateAxz (N)) + RateAxz (N-1))/2; axz (n) = Axz (n-1) + RateAxzAvg T; the same can be obtained: ayz (n) = Ayz (n-1) + rateayz (n) × T;
the vector Rgyro = [ RxGyro, RyGyro, RzGyro ] is introduced here, which can be obtained from the above equation:
RxGyro = sin (axz (n))/SQRT (1+ cos (axz (n)) < lambda > 2 </lambda > < tan (ayz (n)) < lambda > 2 </lambda >; the same can be obtained: RyGyro = sin (Ayz (n))/SQRT (1+ cos (Ayz (n)) < Lambda > 2 </Lambda > (Axz (n)) < Lambda > 2;
then rest (n) = (Racc w1+ Rgyro w2)/(w1+ w2), the numerator and denominator are divided by w1, and the formula can be simplified as: rest (n) = (Racc w1/w1+ Rgyro w2/w1)/(w1/w1+ w2/w 1); let w2= w1= wGyro, available: rest (n) = (Racc + Rgyro × (wGyro)/(1 + wGyro); wGyro represents the degree of confidence in the accelerometer and gyroscope, which ranges from 5 to 20.
Step 3): judging vehicle driving map information; judging the inclination angle change of the equipment according to the numerical value of rest (n) generated in the previous step, thereby judging whether the vehicle is in an upper axle, a lower axle and a flat road running state;
step 4): navigating the vehicle according to the map information; the map information at least comprises two parts of map information on the viaduct and map information under the viaduct, and the map information on the viaduct or the map information under the viaduct is selected according to the information obtained by judgment, so that the vehicle is navigated according to the map information.
The method for analyzing the vehicle getting on and off the axle based on the sensing technology adopts the following hardware equipment, and comprises the following steps:
a mobile phone; the mobile phone comprises one or more processors, the mobile phone at least comprises a gyroscope, an accelerometer, a memory and a GPS receiver, the gyroscope, the accelerometer, the memory and the GPS receiver are respectively connected with the processors, the memory is used for storing one or more programs executed by the one or more processors, and the mobile phone also comprises a Bluetooth interface which can be used for being connected with a vehicle-mounted GPS navigator;
the mobile phone comprises a display screen, wherein the display screen is a display screen with a touch sensitive surface;
the mobile phone also comprises a communication module, wherein the communication module is one or a combination of more of an Ethernet module, a 4G module, a ZigBee communication module, a WiFi communication module and a GPRS module.
The reference frequency of the GPS receiver is 2-26 MHz.
The memory includes a RAM memory and a ROM memory.
The main frequency of the processor is at least 1 GHz.
The invention has the beneficial effects that: the invention adopts the data of the accelerometer and the gyroscope to calculate, judges according to the obtained calculation result, judges according to Rest (n) that the vehicle is on the bridge, adopts the map information on the viaduct to carry out high navigation on the vehicle, judges that the vehicle is off the bridge, adopts the map information under the viaduct to navigate the vehicle, judges that the vehicle stably runs under the viaduct all the time, adopts the map information under the viaduct to navigate the vehicle, and avoids the problem that the existing navigation is difficult to judge the running condition of the vehicle, thereby causing wrong navigation; the invention can also connect the mobile phone with the vehicle-mounted GPS navigator through the Bluetooth interface, which is convenient for the large screen to display navigation information, adopts the GPS receiver to receive the GPS information in time and combines the GPS information with the mobile phone map information and the vehicle driving information obtained by the calculation of the accelerometer and the gyroscope in time, thereby making accurate navigation; the invention has the advantages of reasonable structure, high accuracy, convenient use and wide application range.
Drawings
FIG. 1 is a flow chart of a method of the present invention for analyzing the loading and unloading of a vehicle on an axle based on sensing technology.
Fig. 2 is a schematic structural diagram of hardware equipment adopted in the method for analyzing the vehicle getting on and off the axle based on the sensing technology.
FIG. 3 is a schematic structural diagram of an accelerometer vector relationship model diagram of the method for analyzing the vehicle getting on and off the axle based on the sensing technology.
FIG. 4 is a schematic structural diagram of a gyroscope vector relationship model diagram of the method for analyzing the vehicle getting on and off the axle based on the sensing technology.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-4, a method for analyzing the getting on and off of a vehicle on the basis of sensing technology, the method comprising the steps of:
step 1): acquiring accelerometer and gyroscope data; the accelerometer acquires a vector R = [ Rx, Ry, Rz ]
And the included angle values Axr, Ayr and Azr between the vector R and the X, Y, Z; the accelerometer also obtains a measurement value Racc = [ RxAcc, RyAcc, RzAcc ]; the gyroscope acquires an angular velocity change Rate: assuming that the device is horizontally placed on an XY plane, the projections of an inertial force vector R on an XZ plane and a YZ plane are respectively Rxz and Ryz, an included angle formed by a Z axis and the Rxz vector and the Ryz is defined as Axz and Ayz, the gyroscope measures the change rate of an angle, firstly, assuming that the angle (namely Axz) rotated around the Y axis is measured at the time t0 and is defined as Axz0, and then, measuring the angle again at the time t1 to obtain Axz 1; the rate of change of angle is calculated as follows: RateAxz = (Axz 1-Axz 0)/(t 1-t 0);
step 2): fusing and calculating accelerometer and gyroscope data; introducing a new vector Rest = [ RxEst, RyEst, RzEst ], so that Rest (0) = Racc (0), then
RxEst（0）=RxAcc（0） RyEst（0）=RyAcc（0） RzEst（0）=RzAcc（0）
Making each equal time interval T measure once, the value range of the time interval T is 10ms-100ms, obtaining new measured values Racc (1), Racc (2), Racc (3), … … Racc (n), calculating new estimated values Rest (1), Rest (2), Rest (3), … … Rest (n) in each time interval;
suppose that in step n, there are two columns of known values Rest (n-1), Racc (n)
The right triangle formed by Rz and Rxz can be obtained according to the gyroscope vector diagram: tan (Axz) = Rx/Rz = > Axz = atan2(Rx, Rz),
given the known estimates RxEst (n-1) and RzEst (n-1), it can be derived: axz (n-1) = atan2(RxEst (n-1), RzEst (n-1)), the gyroscope measures the rate of change of the Axz angle, so the new angle Axz (n)) can be estimated as follows: axz (n) = Axz (n-1) + rateaxz (n) × T, and the same can be said: ayz (n) = Ayz (n-1) + rateayz (n) × T,
since RateAxz is directly readable by the gyroscope, the following equation can be obtained by using the average rotation speed RateAxzAvg: RateAxzAvg = (RateAxz (N)) + RateAxz (N-1))/2; axz (n) = Axz (n-1) + RateAxzAvg T; the same can be obtained: ayz (n) = Ayz (n-1) + rateayz (n) × T;
the vector Rgyro = [ RxGyro, RyGyro, RzGyro ] is introduced here, which can be obtained from the above equation:
RxGyro = sin (axz (n))/SQRT (1+ cos (axz (n)) < lambda > 2 </lambda > < tan (ayz (n)) < lambda > 2 </lambda >; the same can be obtained: RyGyro = sin (Ayz (n))/SQRT (1+ cos (Ayz (n)) < Lambda > 2 </Lambda > (Axz (n)) < Lambda > 2;
then rest (n) = (Racc w1+ Rgyro w2)/(w1+ w2), the numerator and denominator are divided by w1, and the formula can be simplified as: rest (n) = (Racc w1/w1+ Rgyro w2/w1)/(w1/w1+ w2/w 1); let w2= w1= wGyro, available: rest (n) = (Racc + Rgyro × (wGyro)/(1 + wGyro); wGyro represents the degree of confidence in the accelerometer and gyroscope, which ranges from 5 to 20.
Step 3): judging vehicle driving map information; judging the inclination angle change of the equipment according to the numerical value of rest (n) generated in the previous step, thereby judging whether the vehicle is in an upper axle, a lower axle and a flat road running state;
step 4): navigating the vehicle according to the map information; the map information at least comprises two parts of map information on the viaduct and map information under the viaduct, and the map information on the viaduct or the map information under the viaduct is selected according to the information obtained by judgment, so that the vehicle is navigated according to the map information.
The method for analyzing the vehicle getting on and off the axle based on the sensing technology adopts the following hardware equipment, and comprises the following steps:
a mobile phone; the mobile phone comprises one or more processors, the mobile phone at least comprises a gyroscope, an accelerometer, a memory and a GPS receiver, the gyroscope, the accelerometer, the memory and the GPS receiver are respectively connected with the processors, the memory is used for storing one or more programs executed by the one or more processors, and the mobile phone also comprises a Bluetooth interface which can be used for being connected with a vehicle-mounted GPS navigator;
the mobile phone comprises a display screen, wherein the display screen is a display screen with a touch sensitive surface;
the mobile phone also comprises a communication module, wherein the communication module is one or a combination of more of an Ethernet module, a 4G module, a ZigBee communication module, a WiFi communication module and a GPRS module.
The invention adopts the data of the accelerometer and the gyroscope to calculate, judges according to the obtained calculation result, judges that the vehicle is on the bridge according to Rest (n), adopts the map information on the viaduct to navigate the vehicle, judges that the vehicle is off the bridge, adopts the map information under the viaduct to navigate the vehicle, judges that the vehicle stably runs under the viaduct all the time, and adopts the map information under the viaduct to navigate the vehicle, thereby avoiding the error navigation caused by the difficulty in judging the running condition of the vehicle by the existing navigation; the invention can also connect the mobile phone with the vehicle-mounted GPS navigator through the Bluetooth interface, which is convenient for the large screen to display navigation information, adopts the GPS receiver to receive the GPS information in time and combines the GPS information with the mobile phone map information and the vehicle driving information obtained by the calculation of the accelerometer and the gyroscope in time, thereby making accurate navigation; the invention has the advantages of reasonable structure, high accuracy, convenient use and wide application range.
Example 2
As shown in fig. 1-4, a method for analyzing the getting on and off of a vehicle on the basis of sensing technology, the method comprising the steps of:
step 1): acquiring accelerometer and gyroscope data; the accelerometer acquires a vector R = [ Rx, Ry, Rz ]
And the included angle values Axr, Ayr and Azr between the vector R and the X, Y, Z; the accelerometer also obtains a measurement value Racc = [ RxAcc, RyAcc, RzAcc ]; the gyroscope acquires an angular velocity change Rate: assuming that the device is horizontally placed on an XY plane, the projections of an inertial force vector R on an XZ plane and a YZ plane are respectively Rxz and Ryz, an included angle formed by a Z axis and the Rxz vector and the Ryz is defined as Axz and Ayz, the gyroscope measures the change rate of an angle, firstly, assuming that the angle (namely Axz) rotated around the Y axis is measured at the time t0 and is defined as Axz0, and then, measuring the angle again at the time t1 to obtain Axz 1; the rate of change of angle is calculated as follows: RateAxz = (Axz 1-Axz 0)/(t 1-t 0);
step 2): fusing and calculating accelerometer and gyroscope data; introducing a new vector Rest = [ RxEst, RyEst, RzEst ], so that Rest (0) = Racc (0), then
RxEst（0）=RxAcc（0） RyEst（0）=RyAcc（0） RzEst（0）=RzAcc（0）
Making each equal time interval T measure once, the value range of the time interval T is 10ms-100ms, obtaining new measured values Racc (1), Racc (2), Racc (3), … … Racc (n), calculating new estimated values Rest (1), Rest (2), Rest (3), … … Rest (n) in each time interval;
suppose that in step n, there are two columns of known values Rest (n-1), Racc (n)
The right triangle formed by Rz and Rxz can be obtained according to the gyroscope vector diagram: tan (Axz) = Rx/Rz = > Axz = atan2(Rx, Rz),
given the known estimates RxEst (n-1) and RzEst (n-1), it can be derived: axz (n-1) = atan2(RxEst (n-1), RzEst (n-1)), the gyroscope measures the rate of change of the Axz angle, so the new angle Axz (n)) can be estimated as follows: axz (n) = Axz (n-1) + rateaxz (n) × T, and the same can be said: ayz (n) = Ayz (n-1) + rateayz (n) × T,
since RateAxz is directly readable by the gyroscope, the following equation can be obtained by using the average rotation speed RateAxzAvg: RateAxzAvg = (RateAxz (N)) + RateAxz (N-1))/2; axz (n) = Axz (n-1) + RateAxzAvg T; the same can be obtained: ayz (n) = Ayz (n-1) + rateayz (n) × T;
the vector Rgyro = [ RxGyro, RyGyro, RzGyro ] is introduced here, which can be obtained from the above equation:
RxGyro = sin (axz (n))/SQRT (1+ cos (axz (n)) < lambda > 2 </lambda > < tan (ayz (n)) < lambda > 2 </lambda >; the same can be obtained: RyGyro = sin (Ayz (n))/SQRT (1+ cos (Ayz (n)) < Lambda > 2 </Lambda > (Axz (n)) < Lambda > 2;
then rest (n) = (Racc w1+ Rgyro w2)/(w1+ w2), the numerator and denominator are divided by w1, and the formula can be simplified as: rest (n) = (Racc w1/w1+ Rgyro w2/w1)/(w1/w1+ w2/w 1); let w2= w1= wGyro, available: rest (n) = (Racc + Rgyro × (wGyro)/(1 + wGyro); wGyro represents the degree of confidence in the accelerometer and gyroscope, which ranges from 5 to 20.
Step 3): judging vehicle driving map information; judging the inclination angle change of the equipment according to the numerical value of rest (n) generated in the previous step, thereby judging whether the vehicle is in an upper axle, a lower axle and a flat road running state;
step 4): navigating the vehicle according to the map information; the map information at least comprises two parts of map information on the viaduct and map information under the viaduct, and the map information on the viaduct or the map information under the viaduct is selected according to the information obtained by judgment, so that the vehicle is navigated according to the map information.
The method for analyzing the vehicle getting on and off the axle based on the sensing technology adopts the following hardware equipment, and comprises the following steps:
a mobile phone; the mobile phone comprises one or more processors, the mobile phone at least comprises a gyroscope, an accelerometer, a memory and a GPS receiver, the gyroscope, the accelerometer, the memory and the GPS receiver are respectively connected with the processors, the memory is used for storing one or more programs executed by the one or more processors, and the mobile phone also comprises a Bluetooth interface which can be used for being connected with a vehicle-mounted GPS navigator;
the mobile phone comprises a display screen, wherein the display screen is a display screen with a touch sensitive surface;
the mobile phone also comprises a communication module, wherein the communication module is one or a combination of more of an Ethernet module, a 4G module, a ZigBee communication module, a WiFi communication module and a GPRS module.
For better effect, the reference frequency of the GPS receiver is 2-26 MHz.
For better results, the memory includes a RAM memory and a ROM memory.
For better effect, the main frequency of the processor is at least 1 GHz.
The invention adopts the data of the accelerometer and the gyroscope to calculate, judges according to the obtained calculation result, judges according to Rest (n) that the vehicle is on the bridge, adopts the map information on the viaduct to carry out high navigation on the vehicle, judges that the vehicle is off the bridge, adopts the map information under the viaduct to navigate the vehicle, judges that the vehicle stably runs under the viaduct all the time, adopts the map information under the viaduct to navigate the vehicle, and avoids the problem that the existing navigation is difficult to judge the running condition of the vehicle, thereby causing wrong navigation; the invention can also connect the mobile phone with the vehicle-mounted GPS navigator through the Bluetooth interface, which is convenient for the large screen to display navigation information, adopts the GPS receiver to receive the GPS information in time and combines the GPS information with the mobile phone map information and the vehicle driving information obtained by the calculation of the accelerometer and the gyroscope in time, thereby making accurate navigation; the invention has the advantages of reasonable structure, high accuracy, convenient use and wide application range.
Claims (4)
1. A method for analyzing the getting on and off of a vehicle axle based on sensing technology is characterized by comprising the following steps:
step 1): acquiring accelerometer and gyroscope data; the accelerometer acquires a vector R = [ Rx, Ry, Rz ]
And the included angle values Axr, Ayr and Azr between the vector R and the X, Y, Z; the accelerometer also obtains a measurement value Racc = [ RxAcc, RyAcc, RzAcc ]; the gyroscope acquires an angular velocity change Rate: assuming that the device is horizontally placed on an XY plane, the projections of an inertial force vector R on an XZ plane and a YZ plane are respectively Rxz and Ryz, an included angle formed by a Z axis and the Rxz vector and the Ryz is defined as Axz and Ayz, firstly, assuming that the measured angle rotating around the Y axis is Axz0 at the time t0, and then measuring the angle again at the time t1 to obtain Axz 1; the rate of change of angle is calculated as follows: RateAxz = (Axz 1-Axz 0)/(t 1-t 0);
step 2): fusing and calculating accelerometer and gyroscope data; introducing a new vector Rest = [ RxEst, RyEst, RzEst ], so that Rest (0) = Racc (0), then
RxEst（0）=RxAcc（0） RyEst（0）=RyAcc（0） RzEst（0）=RzAcc（0）
Making each equal time interval T measure once, the value range of the time interval T is 10ms-100ms, obtaining new measured values Racc (1), Racc (2), Racc (3), … … Racc (n), calculating new estimated values Rest (1), Rest (2), Rest (3), … … Rest (n) in each time interval;
suppose in step n, there are two known columns of values Rest (n-1), racc (n);
the right triangle formed by Rz and Rxz can be obtained according to the gyroscope vector diagram: tan (Axz) = Rx/Rz = > Axz = atan2(Rx, Rz),
given the known estimates RxEst (n-1) and RzEst (n-1), it can be derived: axz (n-1) = atan2(RxEst (n-1), RzEst (n-1)), what the gyroscope measures is the rate of change of the Axz angle, and the new angle Axz (n)) is estimated as follows: axz (n) = Axz (n-1) + rateaxz (n) × T, and the same can be said: ayz (n) = Ayz (n-1) + rateayz (n) × T,
since RateAxz is directly readable by the gyroscope, the following equation can be obtained by using the average rotation speed RateAxzAvg: RateAxzAvg = (RateAxz (N)) + RateAxz (N-1))/2; axz (n) = Axz (n-1) + RateAxzAvg T; the same can be obtained: ayz (n) = Ayz (n-1) + rateayz (n) × T;
the vector Rgyro = [ RxGyro, RyGyro, RzGyro ] is introduced here, which can be obtained from the above equation:
RxGyro = sin (axz (n))/SQRT (1+ cos (axz (n)) < lambda > 2 </lambda > < tan (ayz (n)) < lambda > 2 </lambda >; the same can be obtained: RyGyro = sin (Ayz (n))/SQRT (1+ cos (Ayz (n)) < Lambda > 2 </Lambda > (Axz (n)) < Lambda > 2;
then rest (n) = (Racc w1+ Rgyro w2)/(w1+ w2), the numerator and denominator are divided by w1, and the formula can be simplified as: rest (n) = (Racc w1/w1+ Rgyro w2/w1)/(w1/w1+ w2/w 1); let w2= w1= wGyro, available: rest (n) = (Racc + Rgyro × (wGyro)/(1 + wGyro); wGyro represents the degree of trust for the accelerometer and gyroscope, and the value range is 5-20;
step 3): judging vehicle driving map information; judging the inclination angle change of the equipment according to the numerical value of rest (n) generated in the previous step, thereby judging whether the vehicle is in an upper axle, a lower axle and a flat road running state;
step 4): navigating the vehicle according to the map information; the map information at least comprises two parts, namely the map information on the viaduct and the map information under the viaduct, and the map information on the viaduct or the map information under the viaduct is selected according to the information obtained by judgment, so that the vehicle is navigated according to the map information;
the method adopts the following hardware equipment, including:
a mobile phone; the mobile phone comprises one or more processors, the mobile phone at least comprises a gyroscope, an accelerometer, a memory and a GPS receiver, the gyroscope, the accelerometer, the memory and the GPS receiver are respectively connected with the processors, the memory is used for storing one or more programs executed by the one or more processors, and the mobile phone also comprises a Bluetooth interface used for being connected with a vehicle-mounted GPS navigator;
the mobile phone comprises a display screen, wherein the display screen is a display screen with a touch sensitive surface;
the mobile phone also comprises a communication module, wherein the communication module is one or a combination of more of an Ethernet module, a 4G module, a ZigBee communication module, a WiFi communication module and a GPRS module.
2. The method for analyzing the getting on and off of the axle of the vehicle based on the sensing technology as claimed in claim 1, wherein: the reference frequency of the GPS receiver is 2-26 MHz.
3. The method for analyzing the getting on and off of the axle of the vehicle based on the sensing technology as claimed in claim 1, wherein: the memory includes a RAM memory and a ROM memory.
4. The method for analyzing the getting on and off of the axle of the vehicle based on the sensing technology as claimed in claim 1, wherein: the main frequency of the processor is at least 1 GHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495278.9A CN108917781B (en) | 2018-05-22 | 2018-05-22 | Method for analyzing vehicle getting on and off axle based on sensing technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495278.9A CN108917781B (en) | 2018-05-22 | 2018-05-22 | Method for analyzing vehicle getting on and off axle based on sensing technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108917781A CN108917781A (en) | 2018-11-30 |
| CN108917781B true CN108917781B (en) | 2021-11-02 |
Family
ID=64403430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810495278.9A Expired - Fee Related CN108917781B (en) | 2018-05-22 | 2018-05-22 | Method for analyzing vehicle getting on and off axle based on sensing technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108917781B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101688783A (en) * | 2007-07-04 | 2010-03-31 | 三菱电机株式会社 | Navigation system |
| CN104202466B (en) * | 2014-08-19 | 2019-04-02 | 厦门美图移动科技有限公司 | A kind of method for carrying out safety instruction using mobile phone in traveling |
| CN106032985A (en) * | 2015-03-13 | 2016-10-19 | 厦门歌乐电子企业有限公司 | Vehicle positioning device |
| CN105547309B (en) * | 2015-12-02 | 2018-11-02 | 百度在线网络技术（北京）有限公司 | A kind of recognition methods of overpass road and device |
| CN105526937B (en) * | 2016-01-06 | 2019-01-25 | 北京握奇智能科技有限公司 | A kind of CAN bus based aided positioning system and method |
| CN107764274B (en) * | 2016-08-17 | 2021-03-02 | 厦门雅迅网络股份有限公司 | Method for judging whether vehicle runs on elevated road or not |
-
2018
- 2018-05-22 CN CN201810495278.9A patent/CN108917781B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108917781A (en) | 2018-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107734457B (en) | Intelligent parking lot navigation system and method | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| CN108922173B (en) | Vehicle deviation detection method and device | |
| CN104567931A (en) | Course-drifting-error elimination method of indoor inertial navigation positioning | |
| CN112629530B (en) | Vehicle positioning method, device, equipment and storage medium | |
| CN105509764A (en) | Vehicle-mounted integrated terminal used for intelligent driving test | |
| CN104898139A (en) | Vehicle positioning excursion-correcting method and device | |
| CN104634345B (en) | A kind of indoor trajectory track method of adaptive step | |
| CN104502122A (en) | Unmanned vehicle remote control brake performance testing and assessment method | |
| CN103399337B (en) | A kind of have mobile terminal and the method that GPS locates calibration function | |
| CN105510870A (en) | Smart device indoor positioning system and smart device indoor positioning method | |
| CN112197780B (en) | Path planning method and device and electronic equipment | |
| CN113674551A (en) | Vehicle forward collision early warning method and system based on vehicle-road cooperation | |
| JP2015106242A (en) | Driving support unit and driving support system | |
| CN108254775A (en) | Onboard navigation system and its implementation | |
| CN109212574A (en) | Mobile phone and vehicle device interconnection positioning system, method, navigation system and automobile | |
| US11805390B2 (en) | Method, apparatus, and computer program product for determining sensor orientation | |
| CN101581583B (en) | Navigation positioning system for moving object | |
| CN108917781B (en) | Method for analyzing vehicle getting on and off axle based on sensing technology | |
| CN108646264B (en) | Vehicle positioning method and device | |
| CN204630738U (en) | Based on inertial navigation motor racing Performance Test System | |
| CN104898146A (en) | Vehicle-mounted positioning device | |
| JP2016109487A (en) | Relative position measuring device and program | |
| JP2013050392A (en) | Apparatus and method of measuring turning radius of movable body | |
| CN104583721A (en) | Information processing device, information processing method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181221 Address after: 450000 Sanquan Road, Jinshui District, Zhengzhou City, Henan Province, No. 9, 1m Sunshine Floor 2, No. 22 Applicant after: ZHENGZHOU SENZHILAN ELECTRONIC TECHNOLOGY Co.,Ltd. Address before: Room 106, 3rd floor, Garden Tea City, Tianlun Road, Garden Road, Jinshui District, Zhengzhou City, Henan Province Applicant before: ZHENGZHOU GUANGZHIYUAN ELECTRONICS TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210930 Address after: 450000 No. 992, block a, Newton international, middle Yangjin Road, Jinshui District, Zhengzhou City, Henan Province Applicant after: ZHENGZHOU GUANGZHIYUAN ELECTRONICS TECHNOLOGY Co.,Ltd. Address before: 450000 Sanquan Road, Jinshui District, Zhengzhou City, Henan Province, No. 9, 1m Sunshine Floor 2, No. 22 Applicant before: ZHENGZHOU SENZHILAN ELECTRONIC TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211102 |