CN108957506A - A kind of vehicle positioning method and device - Google Patents
A kind of vehicle positioning method and device Download PDFInfo
- Publication number
- CN108957506A CN108957506A CN201810773872.XA CN201810773872A CN108957506A CN 108957506 A CN108957506 A CN 108957506A CN 201810773872 A CN201810773872 A CN 201810773872A CN 108957506 A CN108957506 A CN 108957506A
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- vehicle
- module
- data processing
- data
- communication module
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle positioning method and devices, it follows the steps below positioning: S1: judging the signal strength of GPS locator in vehicle using GPS signal strength judging unit, if the signal strength of GPS locator meets vehicle location demand, vehicle geographical location is then directly acquired, next step operation is otherwise carried out；S2: data processing module is attempted to use communication module link position server, communication module and communication base station are connected to the network by 4G, the present invention is having communication module, communication module and communication base station are connected to the network by 4G, location server determines rough position locating for communication module according to the communication base station site transmitted, simulated driving is carried out using the electronic map that data processing module embeds, and determine the exact position of vehicle, rough position and exact position are compared and are then forwarded to long range positioning server after obtaining correct conclusion, to realize the correct judgement to vehicle location, it prevents from positioning wrong generation.
Description
Technical field
The present invention relates to vehicle positioning technology field, specially a kind of vehicle positioning method and device.
Background technique
The accurate positionin in path where vehicle is particularly important at present.The positioning of vehicle relies primarily on GPS at present, because
It is GPS in certain time period it is possible that certain deviation, will cause location information that vehicle receives in the process of moving not
Accurately, the feelings for causing the driving path of the vehicle shown in traffic congestion charging system not to be consistent with the path of actual travel
Condition will cause vehicle location and mistake occurs.In a practical situation, city has that there are GPS signal unfavorable condition or roads not more
It is easy the place distinguished, for this purpose, we release a kind of vehicle positioning method.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle positioning method and devices, mentioned above in the background art to solve
Problem.
To achieve the above object, the invention provides the following technical scheme: a kind of vehicle positioning method, according to the following steps into
Row positioning:
S1: judging the signal strength of GPS locator in vehicle using GPS signal strength judging unit, if the signal of GPS locator
Intensity meets vehicle location demand, then directly acquires vehicle geographical location, otherwise carries out next step operation；
S2: data processing module is attempted to use communication module link position server, and communication module and communication base station pass through 4G net
Network connection, location server determine rough position locating for communication module according to the communication base station site transmitted；
S3: obtaining position data, the rotary speed data of wheel and the bearing data of wheel of vehicle last time GPS positioning, and
By above-mentioned data transmission to data processing module；
S4: the data that data processing module obtains step S3 carry out simulation row by the electronic map that data processing module embeds
It sails, and determines the exact position of vehicle；
S5: the exact position of the vehicle obtained in step S4 is compared with the step S2 rough position obtained, if two kinds
Position then outputs data to long range positioning server by communication module in same range.
Preferably, the bearing data of wheel described in step S3 according in vehicle revolver speed, right wheel speed and turning
The difference of interior outer radius obtains vehicle rotational angle theta, according to t0Front vehicle wheel is worked as in the azimuth of moment vehicle and vehicle rotational angle theta acquisition
Azimuth.
The invention also discloses a kind of vehicle locating devices, including GPS locator, data processing module and communication mould simultaneously
Block, the GPS locator are electrically connected with GPS signal strength judging unit, and the communication module is 4G terminal, the communication mould
Block and GPS locator are electrically connected, and the data processing module includes arm processor, mainboard, NAND hard disk and memory ram, institute
It states mainboard and is electrically connected respectively with arm processor, NAND hard disk and memory ram by stitch, the data processing module telecommunications
It is connected with wheel velometer, the quantity of the wheel velometer is no less than two.
It preferably, further include that vehicle present orientation angle obtains module, vehicle present orientation angle obtains module and is used for root
The current azimuth of vehicle is obtained according to the azimuth of t 0 moment vehicle and vehicle rotational angle theta.
It preferably, further include data obtaining module, the data obtaining module is for obtaining vehicle last time GPS positioning
Position data.
It preferably, further include vehicle exact position module, vehicle exact position module is electrically connected with the data processing module,
The NAND hard disk inline e map of the data processing module, vehicle exact position module are current according to speed, vehicle
Azimuth, vehicle last time GPS positioning position data determine the current geographical location information of vehicle.
Preferably, the communication module and communication base station are connected to the network by 4G, and the communication module is connected by 4G network
It is connected to long range positioning server.
Preferably, vehicle exact position module further includes that vehicle corner obtains module, and the vehicle corner obtains mould
Block is used to obtain vehicle rotational angle theta according to the difference of the interior outer radius of revolver speed, right wheel speed and turning in vehicle.
Compared with prior art, the beneficial effects of the present invention are: the present invention have communication module, communication module with communicate
Base station is connected to the network by 4G, and location server determines rough position locating for communication module according to the communication base station site transmitted
It sets, simulated driving is carried out using the electronic map that data processing module embeds, and determine the exact position of vehicle, by rough position
It is compared with exact position and is then forwarded to long range positioning server after obtaining correct conclusion, to realize to vehicle location
Correct judgement, prevents from positioning wrong generation.
Detailed description of the invention
Fig. 1 is module electric connection structure schematic diagram in vehicle exact position of the present invention；
Fig. 2 is data processing module electric connection structure schematic diagram of the present invention；
Fig. 3 is vehicle exact position of the present invention modular structure schematic diagram；
Fig. 4 is data processing module structural schematic diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-4, the present invention provides a kind of technical solution: a kind of vehicle positioning method follows the steps below
Positioning:
S1: judging the signal strength of GPS locator in vehicle using GPS signal strength judging unit, if the signal of GPS locator
Intensity meets vehicle location demand, then directly acquires vehicle geographical location, otherwise carries out next step operation；
S2: data processing module is attempted to use communication module link position server, and communication module and communication base station pass through 4G net
Network connection, location server determine rough position locating for communication module according to the communication base station site transmitted；
S3: obtaining position data, the rotary speed data of wheel and the bearing data of wheel of vehicle last time GPS positioning, and
By above-mentioned data transmission to data processing module；
S4: the data that data processing module obtains step S3 carry out simulation row by the electronic map that data processing module embeds
It sails, and determines the exact position of vehicle；
S5: the exact position of the vehicle obtained in step S4 is compared with the step S2 rough position obtained, if two kinds
Position then outputs data to long range positioning server by communication module in same range.
Specifically, the bearing data of wheel described in step S3 according in vehicle revolver speed, right wheel speed and turning
The difference of interior outer radius obtains vehicle rotational angle theta, works as front vehicle wheel according to the azimuth of t0 moment vehicle and vehicle rotational angle theta acquisition
Azimuth.
The invention also discloses a kind of vehicle locating devices, including GPS locator, data processing module and communication mould simultaneously
Block, the GPS locator are electrically connected with GPS signal strength judging unit, and the communication module is 4G terminal, the communication mould
Block and GPS locator are electrically connected, and the data processing module includes arm processor, mainboard, NAND hard disk and memory ram, institute
It states mainboard and is electrically connected respectively with arm processor, NAND hard disk and memory ram by stitch, the data processing module telecommunications
It is connected with wheel velometer, the quantity of the wheel velometer is no less than two.
Specifically, further including that vehicle present orientation angle obtains module, vehicle present orientation angle obtains module and is used for root
According to t0The azimuth of moment vehicle and vehicle rotational angle theta obtain the current azimuth of vehicle.
Specifically, further including data obtaining module, the data obtaining module is for obtaining vehicle last time GPS positioning
Position data.
Specifically, further including vehicle exact position module, vehicle exact position module is electrically connected with the data processing module,
The NAND hard disk inline e map of the data processing module, vehicle exact position module are current according to speed, vehicle
Azimuth, vehicle last time GPS positioning position data determine the current geographical location information of vehicle.
Specifically, the communication module and communication base station are connected to the network by 4G, the communication module is connected by 4G network
It is connected to long range positioning server.
Specifically, vehicle exact position module further includes that vehicle corner obtains module, the vehicle corner obtains mould
Block is used to obtain vehicle rotational angle theta according to the difference of the interior outer radius of revolver speed, right wheel speed and turning in vehicle.
Specifically, leading in use, vehicle location is easy to happen mistake in the case where GPS locator signal strength is not strong
Believe that module and communication base station are connected to the network by 4G, location server determines communication module according to the communication base station site transmitted
Locating rough position carries out simulated driving using the electronic map that data processing module embeds, and determines the accurate position of vehicle
It sets, rough position and exact position is compared and are then forwarded to long range positioning server after obtaining correct conclusion to realize
Correct judgement to vehicle location.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of vehicle positioning method, it is characterised in that: follow the steps below positioning:
S1: judging the signal strength of GPS locator in vehicle using GPS signal strength judging unit, if the signal of GPS locator
Intensity meets vehicle location demand, then directly acquires vehicle geographical location, otherwise carries out next step operation；
S2: data processing module is attempted to use communication module link position server, and communication module and communication base station pass through 4G net
Network connection, location server determine rough position locating for communication module according to the communication base station site transmitted；
S3: obtaining position data, the rotary speed data of wheel and the bearing data of wheel of vehicle last time GPS positioning, and
By above-mentioned data transmission to data processing module；
S4: the data that data processing module obtains step S3 carry out simulation row by the electronic map that data processing module embeds
It sails, and determines the exact position of vehicle；
S5: the exact position of the vehicle obtained in step S4 is compared with the step S2 rough position obtained, if two kinds
Position then outputs data to long range positioning server by communication module in same range.
2. a kind of vehicle positioning method according to claim 1, it is characterised in that: the azimuth of wheel described in step S3
Data obtain vehicle rotational angle theta according to the difference of the interior outer radius of revolver speed, right wheel speed and turning in vehicle, according to t0Moment
The azimuth of vehicle and the vehicle rotational angle theta obtain the azimuth for working as front vehicle wheel.
3. a kind of vehicle locating device, including GPS locator, data processing module and communication module, it is characterised in that: described
GPS locator is electrically connected with GPS signal strength judging unit, and the communication module is 4G terminal, the communication module and GPS
Locator is electrically connected, and the data processing module includes arm processor, mainboard, NAND hard disk and memory ram, the mainboard
It is electrically connected respectively with arm processor, NAND hard disk and memory ram by stitch, the data processing module telecommunications is connected with
The quantity of wheel velometer, the wheel velometer is no less than two.
4. a kind of vehicle locating device according to claim 3, it is characterised in that: further include that vehicle present orientation angle obtains
Module, vehicle present orientation angle obtain module and are used to obtain vehicle according to the azimuth of t 0 moment vehicle and vehicle rotational angle theta
Current azimuth.
5. a kind of vehicle locating device according to claim 3, it is characterised in that: it further include data obtaining module, it is described
Data obtaining module is used to obtain the position data of vehicle last time GPS positioning.
6. a kind of vehicle locating device according to claim 3, it is characterised in that: it further include vehicle exact position module,
Vehicle exact position module is electrically connected with the data processing module, the NAND hard disk inline e of the data processing module
Figure, vehicle exact position module is according to the current azimuth of speed, vehicle, the positional number of vehicle last time GPS positioning
According to determining the current geographical location information of vehicle.
7. a kind of vehicle locating device according to claim 3, it is characterised in that: the communication module and communication base station are logical
4G network connection is crossed, the communication module has long range positioning server by 4G network connection.
8. a kind of vehicle locating device according to claim 6, it is characterised in that: vehicle exact position module is also wrapped
It includes vehicle corner and obtains module, the vehicle corner obtains module and is used for according to revolver speed in vehicle, right wheel speed and turning
The difference of interior outer radius obtains vehicle rotational angle theta.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810773872.XA CN108957506A (en) | 2018-07-15 | 2018-07-15 | A kind of vehicle positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810773872.XA CN108957506A (en) | 2018-07-15 | 2018-07-15 | A kind of vehicle positioning method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108957506A true CN108957506A (en) | 2018-12-07 |
Family
ID=64481211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810773872.XA Withdrawn CN108957506A (en) | 2018-07-15 | 2018-07-15 | A kind of vehicle positioning method and device |
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| Country | Link |
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| CN (1) | CN108957506A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123335A (en) * | 2019-12-30 | 2020-05-08 | 国网山东省电力公司淄博供电公司 | GPS-based satellite positioning system and method |
| WO2022089241A1 (en) * | 2020-10-30 | 2022-05-05 | 华为技术有限公司 | Automobile positioning method and apparatus |
| CN114660972A (en) * | 2022-03-31 | 2022-06-24 | 天津大学 | Tunnel scene-based GPS/UWB combined system and calibration method |
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| WO2001020575A1 (en) * | 1999-09-15 | 2001-03-22 | Daimlerchrysler Ag | Vehicle data bus system with positioning means |
| US20090088974A1 (en) * | 2007-09-28 | 2009-04-02 | General Motors Corporation | Vehicle Compass Using Telematics Unit and Vehicle Sensor Information |
| CN102576079A (en) * | 2009-10-14 | 2012-07-11 | 高通股份有限公司 | Qualifying coarse position injection in position determination systems |
| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| CN105109491A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
-
2018
- 2018-07-15 CN CN201810773872.XA patent/CN108957506A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001020575A1 (en) * | 1999-09-15 | 2001-03-22 | Daimlerchrysler Ag | Vehicle data bus system with positioning means |
| US20090088974A1 (en) * | 2007-09-28 | 2009-04-02 | General Motors Corporation | Vehicle Compass Using Telematics Unit and Vehicle Sensor Information |
| CN102576079A (en) * | 2009-10-14 | 2012-07-11 | 高通股份有限公司 | Qualifying coarse position injection in position determination systems |
| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| CN105109491A (en) * | 2015-08-05 | 2015-12-02 | 江苏大学 | Vehicle running-direction predicting device and predicting method based on longitudinal curvature of bend |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123335A (en) * | 2019-12-30 | 2020-05-08 | 国网山东省电力公司淄博供电公司 | GPS-based satellite positioning system and method |
| WO2022089241A1 (en) * | 2020-10-30 | 2022-05-05 | 华为技术有限公司 | Automobile positioning method and apparatus |
| CN114660972A (en) * | 2022-03-31 | 2022-06-24 | 天津大学 | Tunnel scene-based GPS/UWB combined system and calibration method |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181207 |