CN110189421A - A kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system and its operation method - Google Patents
A kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system and its operation method Download PDFInfo
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- CN110189421A CN110189421A CN201910388817.3A CN201910388817A CN110189421A CN 110189421 A CN110189421 A CN 110189421A CN 201910388817 A CN201910388817 A CN 201910388817A CN 110189421 A CN110189421 A CN 110189421A
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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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
- G01S19/52—Determining velocity
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B13/00—Taximeters
- G07B13/02—Details; Accessories
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/35—Services specially adapted for particular environments, situations or purposes for the management of goods or merchandise
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system and its operation methods, including GNSS navigation elements, inertial navigation unit, satellite time transfer unit, reset and protection unit, Hall sensor, function key, empty-plate, real-time clock, metering microprocessor, monitoring microprocessor, nonvolatile memory, wireless communication unit, the present invention has the records of distance by the log to taxi with Beidou GNSS/DR integrated navigation technology, avoid have the records of distance by the log problem of the conventional satellite navigation under no navigation signal or the faint environment of navigation signal, such as tunnel, the section of overpass and urban canyons.The present invention reaches sub_meter position precision using GNSS ground enhancing technology and optimization navigation algorithm, solves the orientation problem under complex environment using DR technology, finally makes its track of vehicle continuously without breakpoint.
Description
Technical field
The present invention relates to taxi technical field, in particular to a kind of Beidou GNSS/DR integrated navigation taxi driving range metering meter
When system and its operation method.
Background technique
As urban construction is increasingly accelerated, taxi has become the indispensable vehicles in for people's lives.It hires out
Vehicle time set of having the records of distance by the log is a kind of measurement instrument installed and used on taxi, it is according to the mileage travelled under loaded vehicle state
Charging is carried out with the low speed waiting time, calculated eventually by valuation microprocessor and shows what consumer dealt with by display
Price.Mileage travelled under loaded vehicle state realized by the pulse or the pulse of photoelectric sensor for measuring Hall sensor,
The length of waiting time is being calculated by measurement vehicle lower than the time used in a certain running speed.Assuming that taxi wheel
Zhou Changwei L, wheel per revolution Hall sensor export a pulse signal, if total output umber of pulse is N, then set vehicle
The mileage of traveling is S, then S=N X L.
In taxi industry, some drivers will artificially increase the arteries and veins of log arrangement to earn more interests
Rush number, the mileage number for showing log arrangement is higher than actual travel mileage number, artificial modification time make time of taxi with
Real time is not inconsistent, thus realize the bad behavior of overcharge, the serious economic interests for damaging passenger.
Currently, the generally existing following problems of taxi driving range metering time set: first, this pulse and the modification time of increasing
Means are extremely hidden, therefore passenger is difficult to find the cheating of taxi driver in time.Second, it " is hired out according to JJG517-2016
Automobile meter vertification regulation ", meter often have the records of distance by the log under loaded vehicle state 100m export a pulse, it can be deduced that existing valuation
The precision of having the records of distance by the log of device is 100m, i.e. error is 0.1-99.9m, and according to error analysis, there are discretenesses for existing time set of having the records of distance by the log
Greatly and not regression nature.Third, existing time set are single autonomous system, and time reference is internal clock unit, every meter
When device time reference it is inconsistent.4th, once encountering driver and passenger's generation dispute, taxi monitoring center can not be obtained
The historical position of taxi and track, to can not determine specific mileage.
Chinese patent literature CN101136109A discloses a kind of " taxi driving range metering timing dress with GPS positioning system
Set ", which utilizes GPS technology, and taxi driving range metering time set is made to be able to record passenger getting on/off place (longitude and latitude) and vehicle
Running track, still, the invention just with GPS technology record passenger getting on/off place (longitude and latitude), with north
Bucket GNSS/DR technology is had the records of distance by the log and timing, the more anti-cheating without having the records of distance by the log using Beidou/GNSS information with timing.
Meanwhile the track breakpoint of invention record is serious, poor continuity, there is very big error, is unable to reach meter level positioning accuracy.
Chinese patent literature CN103035036B, which is disclosed, " realizes that long-range monitoring is hired out based on wireless network and satellite positioning
Vehicle is had the records of distance by the log time set method ", which utilizes GPS technology, and taxi can pass through satellite positioning mode and Hall sensor
Mode is had the records of distance by the log, is valuated, and taximeter is obtained by comparing satellite positioning mode and Hall sensor mode correspondence
Data have the records of distance by the log to find and prevent the having the records of distance by the log of taxi, charging cheating.But the invention is led with only GPS satellite
Boat technology, no navigation signal even under the faint complex environment of navigation satellite signal can not precise positioning with have the records of distance by the log, do not have yet
There is track playback function, is encountering driver and passenger because vaild evidence still can not be provided when dispute occurs for mileage.Meanwhile
The invention is had the records of distance by the log has the records of distance by the log for two-dimensional surface, and precision of having the records of distance by the log is poor.This is also without using Service of Timing by Satellite, time set time
Benchmark is inconsistent.
Although having carried out certain researchs the problem of preventing taxi driving range metering time set from practicing fraud, really it is applied to
That practices is few.Therefore, the corrupt practice of taxi driver can be prevented from source or can find in time by really needing one kind
The corrupt practice of taxi driver, technically and in practice blocking malicious person utilizes taxi driving range metering time set
Certain defects carry out the means of charging.
With the development of Beidou GNSS/DR technology, the vehicle positioning precision based on ground enhancing technology reach sub-meter grade (<
1m), can be completely used for taxi have the records of distance by the log aspect, precision is completely superior to existing precision of having the records of distance by the log (100m), while satellite is awarded
When technology can be completely used on taxi time set.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of Beidou GNSS/DR integrated navigation taxi driving range metering timing
System；
The present invention also provides the operation methods of above-mentioned GNSS/DR integrated navigation taxi driving range metering timekeeping system.
Term is explained:
SINS subsystem: strap-down inertial navigation system, it is according to the product of carrier initial position, accelerometer and gyroscope
Point result can calculate speed, the position of carrier in real time.
The technical solution of the present invention is as follows:
A kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system, a combination thereof navigation refer to GNSS navigation and are used to
Property navigation two kinds navigation mode combination.Including GNSS navigation elements, inertial navigation unit, Hall sensor, satellite time transfer list
It is member, real time clock unit, reset and protection unit, function key, metering microprocessor, monitoring microprocessor, empty-plate, non-volatile
Memory, wireless communication unit, display, printer；
The GNSS navigation elements, inertial navigation unit, Hall sensor, satellite time transfer unit, real time clock unit are equal
Connect the metering microprocessor；The empty-plate, nonvolatile memory, wireless communication unit, display, printer connect
Connect the monitoring microprocessor；The reset and protection unit connects the metering microprocessor, the monitoring microprocessor；It is described
Function is keyed the metering microprocessor, the monitoring microprocessor, the metering microprocessor connection micro- place of monitoring
Manage device；
The GNSS navigation elements carry out the real time position positioning of vehicle by receiving GNSS satellite signal；The inertia is led
The unit that navigates calculates the real time position of vehicle by the measured value of inertial sensor；Both modes are combined, it is available in office
The mileage and temporal information of vehicle under what environment.The satellite time transfer unit carries out the solution of time by receiving GNSS satellite signal
It calculates；The reset and protection unit carries out system reset to the metering microprocessor and monitoring microprocessor；The hall sensing
The umber of pulse of measurement is sent to the metering microprocessor by device, and vehicle driving is calculated by the metering microprocessor
Mileage；The empty-plate shows the operation state of vehicle；The function key is to the metering microprocessor and monitoring microprocessor
Make Initialize installation；The real time clock unit provides clock signal for the metering microprocessor；The wireless communication unit
The data issued for receiving taxi monitoring center to taxi, and the data returned to taxi monitoring center；It is described
Nonvolatile memory is used to store speed, position and the mileage of data and vehicle that taxi monitoring center is issued to taxi
Information；The metering microprocessor receives the vehicle position information of integrated navigation output, calculates vehicle according to vehicle position information
Mileage information, receive the umber of pulse of Hall sensor output, the mileage information of vehicle calculated according to umber of pulse, further according to
The error rate of mileage alignment algorithm calculating mileage；The monitoring microprocessor is by spi bus to the nonvolatile memory
It is written and read, carries out tax information interaction；The monitoring microprocessor by iic bus to the wireless communication unit into
Row read-write operation carries out car speed, mileage information interaction；Display display unit price is had the records of distance by the log, timing and amount information；
The printer is for printing effective invoice information.
The present invention reaches sub_meter position precision using GNSS ground enhancing technology and optimization navigation algorithm, using DR technology
The orientation problem under complex environment is solved, finally makes its track of vehicle continuously without breakpoint；Using GNSS satellite Service of Timing to meter
When device unify time service, to time set carry out the time calibrate automatically；It is had the records of distance by the log precision using Three-Dimensional Dynamic technology raising of having the records of distance by the log.?
Satellite navigation is used under the good environment of GNSS satellite signal, in complex situations (such as overpass, tunnel and urban canyons area
Domain) it is navigated using DR, mileage is calculated by the latitude and longitude information of the navigation of acquisition.Time set is by receiving GNSS satellite letter
Number, received GNSS satellite signal, come automatic prover time, effectively identifies the cheating row of adjustment time by the processing of processor
For.
It is preferred according to the present invention, the model Tianshu P302 of the GNSS navigation elements, the inertial navigation unit
Model MPU9150, the model EW632 of the Hall sensor, the model AGM331C of the satellite time transfer unit, institute
The model DS1302 of real time clock unit is stated, the reset and protection unit is reset protective circuit, and the function key is key,
The model STM32F103 of the metering microprocessor, the model STM32F103 of the monitoring microprocessor, the empty wagons
The model TYUI of board, the model W25Q128 of the nonvolatile memory, the wireless communication unit are SIM900 mould
Block, the display are LCD liquid crystal display, the model ERC05 of the printer.
The operation method of above-mentioned Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system, comprises the following steps that
(1) taxi driving range metering timekeeping system is initialized；
(2) GNSS/DR integrated navigation is had the records of distance by the log respectively with Hall sensor；GNSS/DR integrated navigation includes that GNSS is led
Navigate unit and inertial navigation unit；
(3) judge whether taxi attaches most importance to car state, if so, entering step (4)；Otherwise, return step (2)；
(4) total kilometrage calculated between the mileage that the obtained mileage of GNSS/DR integrated navigation and Hall sensor obtain misses
Rate；
(5) the total kilometrage error rate for obtaining step (4) is compared with given threshold K, 0 < K≤5%, if total kilometrage error
Rate be greater than K, then the taxi by wireless communication unit to taxi monitoring center send exception information, taxi monitoring center
The exception information received is subjected to storage record, and issues the alarm message reminding taxi there are cheatings；Otherwise, should
Abnormal phenomenon is not present in taxi.
Preferred according to the present invention, step (2), GNSS/DR integrated navigation is had the records of distance by the log, SINS subsystem and GNSS subsystem
Unite it is mutually independent positioned, constant speed, attitude algorithm, inertial navigation unit, that is, SINS subsystem, SINS subsystem includes used
Property sensor, the inertial sensor includes accelerometer and gyroscope；GNSS navigation elements, that is, GNSS subsystem；The SINS
Subsystem, GNSS subsystem are all connected with complementary type Kalman filter；
A, gyroscope output north orientation, day are to the angular speed with vehicle on east orientation direction；
B, to north orientation, day to and east orientation direction on vehicle angular speed distinguish integral operation, respectively obtain the course of vehicle
Angle, pitch angle and angle of heel；
C, accelerometer output north orientation, day are to the acceleration with the vehicle on east orientation；
D, to north orientation, day to and east orientation on the acceleration of vehicle carry out proportional integration operation respectively, respectively obtain north orientation,
It is to the speed with vehicle on east orientation direction；
E, to north orientation, day to and east orientation direction on vehicle speed distinguish integral operation, obtain vehicle north orientation, day to
Distance on east orientation direction；
F, obtain the position of vehicle using four element attitude algorithms, final output one smooth, renewal frequency is fast with
The speed of vehicle based on low flat noise and position；
G, GNSS subsystem obtains speed and the position of vehicle by the resolving of satellite navigation and positioning algorithm；
H, by the speed of the obtained vehicle of step f and position, pass through with the speed of the obtained vehicle of step g and position described
Complementary type Kalman filter is integrated together, using Kalman filtered results to gyroscope and accelerometer in SINS subsystem
Error carries out closed loop feedback correction, calculates the speed of vehicle and the correcting value of position, finally obtains speed and the position of vehicle
Optimal estimation.To carry out the filtering of integrated navigation next time.In this integrated navigation system, SINS subsystem may operate in one
On a higher location frequency, and Kalman filter may operate in the frequency of a lower positioning.
When receiver lacks visible satellite and cannot complete positioning, combined system can directly export determining for SINS subsystem
Position result.
Preferred according to the present invention, the renewal equation such as formula (I) of SINS subsystem speed, (II) are shown: renewal equation
The result that accelerometer exports can be converted to speed, location information.
Vn=∫ an(Ⅰ)
In formula (I), (II), VnRefer to the speed before updating, anRefer to acceleration；Refer to updated speed,It is
Refer to proportionality coefficient, fbRefer to the output of accelerometer,Indicate the rotational-angular velocity of the earth of region,Indicate local geographical
The projection value of angular speed in coordinate system with respect to ECEF coordinate system；
Shown in the renewal equation of SINS subsystem position such as formula (III):
In formula (III),Updated latitude, longitude, height are referred respectively to, h indicates the height before updating,Table
Show carrier angle of drift,WithIt is upward to refer respectively to north orientation of the carrier in the navigational coordinate system of region, east orientation and day
Speed, RM、RNRefer respectively to the meridian circle of carrier current location, the radius of curvature of prime vertical.
Preferred according to the present invention, in GNSS subsystem, GNSS subsystem is resolved by satellite navigation and positioning algorithm
Speed and position to vehicle, comprising:
A, pseudorange is calculated according to pseudorange observation equation, shown in pseudorange observation equation such as formula (IV):
In formula (IV), n refers to satellite number, ρ(n)Refer to pseudorange, r(n)Refer to receiver to satellite n geometric distance；δtuIt is
Refer to receiver clock clock deviation, δ t(n)Refer to satellite clock clock deviation, I(n)Refer to that ionosphere is delayed, T(n)Refer to that troposphere is delayed,
Refer to that pseudo range measurement quantifies noise；
B, joint pseudorange observation equation obtains pseudorange observation equation group, resolves the position that pseudorange observation equation group calculates carrier
It sets, shown in pseudorange observation equation group such as formula (V):
In formula (V), (x(i),y(i),z(i)) vector form be x(n)=[x(n),y(n),z(n)]T, refer to the position of satellite n
Coordinate vector, i=1,2,3...N；The vector form of (x, y, z) is x=[x, y, z]T, refer to unknown carrier positions coordinate；
ρ(i)Refer to carrier to i-th star pseudorange；
C, derivation is carried out to pseudorange observation equation, obtains the speed of carrier, shown in derivation formula such as formula (VI):
In formula (VI),Refer to the aggregate distance change rate of satellite and receiver, δ fuRefer to receiver clock frequency drift, δ f(n)It is the clock frequency drift of satellite n respectively,Refer to other error terms；
D, it is calculated according to the update of the state equation of Kalman filter is final as a result, being established in conjunction with speed, the information of position
The state equation of method, as shown in formula (VII):
In formula (VII),Refer to the state vector at updated k moment；FkRefer to state-transition matrix, XkFor the k moment
State vector, i.e. velocity error and location error, GkRefer to that noise drives matrix, WkRefer to system noise vector array.
Preferred according to the present invention, step (2), Hall sensor is had the records of distance by the log, and is referred to:
Assuming that the tire radius of taxi is R, the Hall sensor of taximeter exports at the i-th moment to the i+1 moment
Calculating pulse be k, (VIII) has the records of distance by the log according to the following formula:
In formula (VIII), S refers to the mileage that Hall sensor measures.
It is preferred according to the present invention, in step (4), calculate mileage and Hall sensor that GNSS/DR integrated navigation obtains
The obtained error rate between mileage, it is assumed that the latitude and longitude coordinates of the i moment A point obtained by integrated navigation technology be denoted as A (ja,
Wa), i+1 moment B point latitude and longitude coordinates are denoted as B (jb, wb), and ja refers to that the longitude of A point, wa refer to that the latitude of A point, jb refer to B
The longitude of point, wb refer to the latitude of B point；
According to coordinate transformation formula, the latitude and longitude coordinates of A, B two o'clock are converted into spherical coordinate, Formula of Coordinate System Transformation such as formula
(Ⅸ), shown in formula (Ⅹ):
In formula (Ⅸ), formula (Ⅹ), (Xa, Ya, Za) refers to the spherical coordinate of A point；(Xb, Yb, Zb) refers to that the spherical surface of B point is sat
Mark；R ' is region earth radius；
Obtain meeting three-dimensional mileage under the spherical coordinate of practical situationShown in calculation formula such as formula (Ⅺ):
Assuming that the mileage for measuring taxi meter is S in jth sectionj, the mileage of integrated navigation is Lj, utilize taxi meter
Journey device mileage SjWith the mileage L of integrated navigationjCalculate the error rate of segmentation mileage, the calculation formula ε of the error rate of jth sectionjSuch as
Shown in formula (Ⅻ):
εjFor the mileage error rate of jth section, shown in total kilometrage error rate Σ calculation formula such as formula (XIII):
The invention has the benefit that
1, the present invention has the records of distance by the log to taxi with Beidou GNSS/DR integrated navigation technology, avoids conventional satellite and leads
Have the records of distance by the log problem of the boat under no navigation signal or the faint environment of navigation signal, such as the road of tunnel, overpass and urban canyons
Section.
2, the present invention uses Service of Timing by Satellite, it is ensured that the unification of each taxi time reference.
3, integrated navigation module of the present invention is had the records of distance by the log using three-dimensional driving range metering method, is improved precision of having the records of distance by the log, is reduced error, mentions
The high accuracy and reliability of system.
4, the present invention also provides taxi real-time position informations, provide strong guarantor for the scheduling of taxi company
Barrier.
5, enhance technology using GNSS ground and optimization navigation algorithm reaches sub_meter position precision, solved using DR technology
Orientation problem under complex environment finally makes its track of vehicle continuously without breakpoint.
6, system described in the invention, which also has, hires out wheel paths store function, and integrated navigation module is by wireless communication
Location information per second is uploaded to taxi monitoring center by unit, and taxi monitoring center deposits the location information of acquisition
Storage, when encountering the dispute problem of taxi and passenger, taxi monitoring center can transfer the track of taxi traveling, ensure
The legitimate interests of both sides.The present invention can carry out networking, automatically-monitored and management to the behavior of taxi driver, ensure
The interests of passenger, while being provided convenience for taxi driver.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system of the present invention；
Fig. 2 is the schematic diagram that Hall sensor of the present invention generates pulse；
Fig. 3 is SINS subsystem diagram of the present invention；
Fig. 4 is Integrated Navigation Algorithm block diagram of the present invention；
Fig. 5 is the trajectory diagram for only having GNSS satellite navigation vehicle to pass through tunnel；
Fig. 6 is that GNSS/DR integrated navigation vehicle passes through tunnel trajectory diagram；
Fig. 7 is that the present invention by integrated navigation has the records of distance by the log mode and Hall sensor mode decision taxi of having the records of distance by the log whether there is
The work flow diagram of cheating.
Specific embodiment
The present invention is further qualified with embodiment with reference to the accompanying drawings of the specification, but not limited to this.
Embodiment 1
A kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system, as shown in Figure 1, a combination thereof navigation refers to
The combination of GNSS navigation and two kinds of inertial navigation navigation modes.Including GNSS navigation elements, inertial navigation unit, hall sensing
Device, satellite time transfer unit, real time clock unit, reset and protection unit, function key, metering microprocessor, monitoring microprocessor, sky
License plate, nonvolatile memory, wireless communication unit, display, printer；
GNSS navigation elements, inertial navigation unit, Hall sensor, satellite time transfer unit, real time clock unit are all connected with
Metering microprocessor；Empty-plate, nonvolatile memory, wireless communication unit, display, printer are all connected with monitoring micro process
Device；Reset and protection unit connects metering microprocessor, monitoring microprocessor；Function is keyed metering microprocessor, the micro- place of monitoring
Device is managed, metering microprocessor connects monitoring microprocessor；
GNSS navigation elements carry out the real time position positioning of vehicle by receiving GNSS satellite signal；Inertial navigation unit is logical
The measured value for crossing inertial sensor calculates the real time position of vehicle；Both modes are combined, it is available in any environment
The mileage and temporal information of vehicle.Satellite time transfer unit carries out the resolving of time by receiving GNSS satellite signal；Reset and protection
Unit carries out system reset to metering microprocessor and monitoring microprocessor；The umber of pulse of measurement is sent to meter by Hall sensor
Microprocessor is measured, VMT Vehicle-Miles of Travel is calculated by metering microprocessor；Empty-plate shows the operation state of vehicle；Function
Energy key makees Initialize installation to metering microprocessor and monitoring microprocessor；When real time clock unit provides for metering microprocessor
Clock signal；Wireless communication unit is monitored for receiving the data that taxi monitoring center is issued to taxi, and to taxi
The data of center passback；Nonvolatile memory is used to store data that taxi monitoring center is issued to taxi and vehicle
Speed, position and mileage information；Metering microprocessor receives the vehicle position information of integrated navigation output, is believed according to vehicle location
Breath calculates the mileage information of vehicle, receives the umber of pulse of Hall sensor output, and the mileage information of vehicle is calculated according to umber of pulse,
The error rate of mileage is calculated further according to mileage alignment algorithm；Monitoring microprocessor by spi bus to nonvolatile memory into
Row read-write operation carries out tax information interaction；Monitoring microprocessor is written and read behaviour to wireless communication unit by iic bus
Make, carries out car speed, mileage information interaction；Display display unit price is had the records of distance by the log, timing and amount information；Printer is for beating
It is printed on effect invoice information.
Embodiment 2
According to a kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system described in embodiment 1, difference exists
In:
The model Tianshu P302 of GNSS navigation elements, the model MPU9150 of inertial navigation unit, Hall sensor
Model EW632, the model AGM331C of satellite time transfer unit, the model DS1302 of real time clock unit, reset and protection list
Member is reset protective circuit, and function key is key, the model STM32F103 of metering microprocessor, the type of monitoring microprocessor
It number is STM32F103, the model TYUI of empty-plate, the model W25Q128 of nonvolatile memory, wireless communication unit is
SIM900 module, display are LCD liquid crystal display, the model ERC05 of printer.
Embodiment 3
The operation method of the Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system of embodiment 1 or 2, such as Fig. 7 institute
Show, comprises the following steps that
(1) taxi driving range metering timekeeping system is initialized；
(2) GNSS/DR integrated navigation is had the records of distance by the log respectively with Hall sensor；GNSS/DR integrated navigation includes that GNSS is led
Navigate unit and inertial navigation unit；
(3) judge whether taxi attaches most importance to car state, if so, entering step (4)；Otherwise, return step (2)；
(4) total kilometrage calculated between the mileage that the obtained mileage of GNSS/DR integrated navigation and Hall sensor obtain misses
Rate；
(5) the total kilometrage error rate for obtaining step (4) is compared with given threshold K, 0 < K≤5%, if total kilometrage error
Rate be greater than K, then the taxi by wireless communication unit to taxi monitoring center send exception information, taxi monitoring center
The exception information received is subjected to storage record, and issues the alarm message reminding taxi there are cheatings；Otherwise, should
Abnormal phenomenon is not present in taxi.
Embodiment 4
According to the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system described in embodiment 3, area
It is not:
Step (2), GNSS/DR integrated navigation are had the records of distance by the log, SINS subsystem and the mutually independent progress of GNSS subsystem
Positioning, constant speed, attitude algorithm, inertial navigation unit, that is, SINS subsystem, SINS subsystem include inertial sensor, inertia sensing
Device includes accelerometer and gyroscope；SINS subsystem diagram is as shown in Figure 3；GNSS navigation elements, that is, GNSS subsystem；SINS
Subsystem, GNSS subsystem are all connected with complementary type Kalman filter；Include:
A, gyroscope output north orientation, day are to the angular speed with vehicle on east orientation direction；
B, to north orientation, day to and east orientation direction on vehicle angular speed distinguish integral operation, respectively obtain the course of vehicle
Angle, pitch angle and angle of heel；
C, accelerometer output north orientation, day are to the acceleration with the vehicle on east orientation；
D, to north orientation, day to and east orientation on the acceleration of vehicle carry out proportional integration operation respectively, respectively obtain north orientation,
It is to the speed with vehicle on east orientation direction；
E, to north orientation, day to and east orientation direction on vehicle speed distinguish integral operation, obtain vehicle north orientation, day to
Distance on east orientation direction；
F, obtain the position of vehicle using four element attitude algorithms, final output one smooth, renewal frequency is fast with
The speed of vehicle based on low flat noise and position；
G, GNSS subsystem obtains speed and the position of vehicle by the resolving of satellite navigation and positioning algorithm；
H, by the speed of the obtained vehicle of step f and position, pass through with the speed of the obtained vehicle of step g and position complementary
Type Kalman filter is integrated together, as shown in figure 4, to gyroscope in SINS subsystem and being added using Kalman filtered results
Speedometer error carries out closed loop feedback correction, calculates the speed of vehicle and the correcting value of position, finally obtains the speed of vehicle
With the optimal estimation of position.To carry out the filtering of integrated navigation next time.In this integrated navigation system, SINS subsystem can be transported
Row is on a higher location frequency, and Kalman filter may operate in the frequency of a lower positioning.
When receiver lacks visible satellite and cannot complete positioning, combined system can directly export determining for SINS subsystem
Position result.
The only track passed through tunnel of GNSS satellite navigation vehicle is as shown in Figure 5；GNSS/DR integrated navigation vehicle of the present invention
Track of passing through tunnel is as shown in Figure 6；The track in tunnel is not known in Fig. 5 and there are breakpoints, and in Fig. 6 the track in tunnel it is clear and
Continuously, by Fig. 5, Fig. 6 comparison it is found that the present invention enhances technology using GNSS ground and optimization navigation algorithm reaches sub_meter position
Precision solves the orientation problem under complex environment using DR technology, finally makes its track of vehicle continuously without breakpoint.
The renewal equation such as formula (I) of SINS subsystem speed, (II) are shown: renewal equation can export accelerometer
Result be converted to speed, location information.
Vn=∫ an (Ⅰ)
In formula (I), (II), VnRefer to the speed before updating, anRefer to acceleration；Refer to updated speed,It is
Refer to proportionality coefficient, fbRefer to the output of accelerometer,Indicate the rotational-angular velocity of the earth of region,Indicate local geographical
The projection value of angular speed in coordinate system with respect to ECEF coordinate system；
Shown in the renewal equation of SINS subsystem position such as formula (III):
In formula (III),Updated latitude, longitude, height are referred respectively to, h indicates the height before updating,Table
Show carrier angle of drift,WithRefer respectively to north orientation, east orientation and day of the carrier in the navigational coordinate system of region to
On speed, RM、RNRefer respectively to the meridian circle of carrier current location, the radius of curvature of prime vertical.
In GNSS subsystem, GNSS subsystem obtains speed and the position of vehicle by the resolving of satellite navigation and positioning algorithm
It sets, comprising:
A, pseudorange is calculated according to pseudorange observation equation, shown in pseudorange observation equation such as formula (IV):
In formula (IV), n refers to satellite number, ρ(n)Refer to pseudorange, r(n)Refer to receiver to satellite n geometric distance；δtuIt is
Refer to receiver clock clock deviation, δ t(n)Refer to satellite clock clock deviation, I(n)Refer to that ionosphere is delayed, T(n)Refer to that troposphere is delayed,
Refer to that pseudo range measurement quantifies noise；
B, joint pseudorange observation equation obtains pseudorange observation equation group, resolves the position that pseudorange observation equation group calculates carrier
It sets, shown in pseudorange observation equation group such as formula (V):
In formula (V), (x(i),y(i),z(i)) vector form be x(n)=[x(n),y(n),z(n)]T, refer to the position of satellite n
Coordinate vector, i=1,2,3...N；The vector form of (x, y, z) is x=[x, y, z]T, refer to unknown carrier positions coordinate；
ρ(i)Refer to carrier to i-th star pseudorange；
C, derivation is carried out to pseudorange observation equation, obtains the speed of carrier, shown in derivation formula such as formula (VI):
In formula (VI),Refer to the aggregate distance change rate of satellite and receiver, δ fuRefer to receiver clock frequency drift, δ f(n)It is the clock frequency drift of satellite n respectively,Refer to other error terms；
D, it is calculated according to the update of the state equation of Kalman filter is final as a result, being established in conjunction with speed, the information of position
The state equation of method, as shown in formula (VII):
In formula (VII),Refer to the state vector at updated k moment；FkRefer to state-transition matrix, XkFor the k moment
State vector, i.e. velocity error and location error, GkRefer to that noise drives matrix, WkRefer to system noise vector array.
Step (2), Hall sensor is had the records of distance by the log, and is referred to:
Assuming that the tire radius of taxi is R, the Hall sensor of taximeter exports at the i-th moment to the i+1 moment
Calculating pulse be k, Hall sensor generate pulse schematic diagram as shown in Fig. 2, (VIII) has the records of distance by the log according to the following formula:
In formula (VIII), S refers to the mileage that Hall sensor measures.
Embodiment 5
According to the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system described in embodiment 3, area
It is not:
In step (4), the mistake between the mileage that the obtained mileage of GNSS/DR integrated navigation and Hall sensor obtain is calculated
Rate, it is assumed that the latitude and longitude coordinates of the i moment A point obtained by integrated navigation technology are denoted as A (ja, wa), i+1 moment B point longitude and latitude
Degree coordinate is denoted as B (jb, wb), and ja refers to that the longitude of A point, wa refer to that the latitude of A point, jb refer to that the longitude of B point, wb refer to B point
Latitude；
According to coordinate transformation formula, the latitude and longitude coordinates of A, B two o'clock are converted into spherical coordinate, Formula of Coordinate System Transformation such as formula
(Ⅸ), shown in formula (Ⅹ):
In formula (Ⅸ), formula (Ⅹ), (Xa, Ya, Za) refers to the spherical coordinate of A point；(Xb, Yb, Zb) refers to that the spherical surface of B point is sat
Mark；R ' is region earth radius；
Obtain meeting three-dimensional mileage under the spherical coordinate of practical situationShown in calculation formula such as formula (Ⅺ):
Assuming that the mileage for measuring taxi meter is S in jth sectionj, the mileage of integrated navigation is Lj, utilize taxi meter
Journey device mileage SjWith the mileage L of integrated navigationjCalculate the error rate of segmentation mileage, the calculation formula ε of the error rate of jth sectionjSuch as
Shown in formula (Ⅻ):
εjFor the mileage error rate of jth section, shown in total kilometrage error rate Σ calculation formula such as formula (XIII):
Claims (8)
1. a kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system, which is characterized in that including GNSS navigation elements,
Inertial navigation unit, Hall sensor, satellite time transfer unit, real time clock unit, reset and protection unit, function key, metering are micro-
Processor, monitoring microprocessor, empty-plate, nonvolatile memory, wireless communication unit, display, printer；
The GNSS navigation elements, inertial navigation unit, Hall sensor, satellite time transfer unit, real time clock unit are all connected with
The metering microprocessor；The empty-plate, nonvolatile memory, wireless communication unit, display, printer are all connected with institute
State monitoring microprocessor；The reset and protection unit connects the metering microprocessor, the monitoring microprocessor；The function
It is keyed the metering microprocessor, the monitoring microprocessor, the metering microprocessor connects the monitoring microprocessor；
The GNSS navigation elements carry out the real time position positioning of vehicle by receiving GNSS satellite signal；The inertial navigation list
Member calculates the real time position of vehicle；The satellite time transfer unit carries out the resolving of time by receiving GNSS satellite signal；It is described
Reset and protection unit carries out system reset to the metering microprocessor and monitoring microprocessor；The Hall sensor will measure
Umber of pulse be sent to the metering microprocessor, VMT Vehicle-Miles of Travel is calculated by the metering microprocessor；Institute
State the operation state that empty-plate shows vehicle；The function key initializes the metering microprocessor and monitoring microprocessor
Setting；The real time clock unit provides clock signal for the metering microprocessor；The wireless communication unit is for receiving
The data that taxi monitoring center is issued to taxi, and the data returned to taxi monitoring center；It is described non-volatile
Memory is used to store speed, position and the mileage information of data and vehicle that taxi monitoring center is issued to taxi；Institute
The vehicle position information that metering microprocessor receives integrated navigation output is stated, is believed according to the mileage that vehicle position information calculates vehicle
Breath receives the umber of pulse of the Hall sensor output, the mileage information of vehicle is calculated according to umber of pulse, is compared further according to mileage
The error rate of algorithm calculating mileage；The monitoring microprocessor is written and read the nonvolatile memory by spi bus
Operation carries out tax information interaction；The monitoring microprocessor is written and read behaviour to the wireless communication unit by iic bus
Make, carries out car speed, mileage information interaction；Display display unit price is had the records of distance by the log, timing and amount information；The printing
Machine is for printing effective invoice information.
2. a kind of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system according to claim 1, feature exist
In, the model Tianshu P302 of the GNSS navigation elements, the model MPU9150 of the inertial navigation unit, the Hall
The model EW632 of sensor, the model AGM331C of the satellite time transfer unit, the model of the real time clock unit
DS1302, the reset and protection unit are reset protective circuit, and the function key is key, the model of the metering microprocessor
For STM32F103, the model STM32F103 of the monitoring microprocessor, the model TYUI of the empty-plate, it is described it is non-easily
The model W25Q128 of the property lost memory, the wireless communication unit are SIM900 module, and the display is LCD liquid crystal
Show device, the model ERC05 of the printer.
3. a kind of operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system of any of claims 1 or 2,
It is characterised in that it includes steps are as follows:
(1) taxi driving range metering timekeeping system is initialized；
(2) GNSS/DR integrated navigation is had the records of distance by the log respectively with Hall sensor；GNSS/DR integrated navigation includes that GNSS navigation is single
Member and inertial navigation unit；
(3) judge whether taxi attaches most importance to car state, if so, entering step (4)；Otherwise, return step (2)；
(4) the total kilometrage error rate between the mileage that the obtained mileage of GNSS/DR integrated navigation and Hall sensor obtain is calculated；
(5) the total kilometrage error rate for obtaining step (4) is compared with given threshold K, 0 < K≤5%, if total kilometrage error rate is big
In K, then unit will connect the taxi to taxi monitoring center transmission exception information, taxi monitoring center by wireless communication
The exception information received carries out storage record, and issues the alarm message reminding taxi there are cheatings；Otherwise, the taxi
Abnormal phenomenon is not present in vehicle.
4. the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system according to claim 3, special
Sign is that step (2), GNSS/DR integrated navigation is had the records of distance by the log, SINS subsystem with GNSS subsystem is mutually independent is determined
Position, constant speed, attitude algorithm, inertial navigation unit, that is, SINS subsystem, SINS subsystem includes inertial sensor, and the inertia passes
Sensor includes accelerometer and gyroscope；GNSS navigation elements, that is, GNSS subsystem；The SINS subsystem, GNSS subsystem are equal
Connect complementary type Kalman filter；
A, gyroscope output north orientation, day are to the angular speed with vehicle on east orientation direction；
B, to north orientation, day to and east orientation direction on vehicle angular speed distinguish integral operation, respectively obtain the course angle of vehicle, bow
The elevation angle and angle of heel；
C, accelerometer output north orientation, day are to the acceleration with the vehicle on east orientation；
D, to north orientation, day to and east orientation on the acceleration of vehicle carry out proportional integration operation respectively, respectively obtain north orientation, day to
With the speed of vehicle on east orientation direction；
E, to north orientation, day to and east orientation direction on vehicle speed distinguish integral operation, obtain vehicle north orientation, day to and east orientation
Distance on direction；
F, the position of vehicle, the speed of final output vehicle and position are obtained using four element attitude algorithms；
G, GNSS subsystem obtains speed and the position of vehicle by the resolving of satellite navigation and positioning algorithm；
H, by the speed of the obtained vehicle of step f and position, pass through with the speed of the obtained vehicle of step g and position described complementary
Type Kalman filter is integrated together, using Kalman filtered results to gyroscope and accelerometer error in SINS subsystem
Closed loop feedback correction is carried out, calculates the speed of vehicle and the correcting value of position, the speed for finally obtaining vehicle and position are most
Excellent estimation.
5. the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system according to claim 4, special
Sign is that the renewal equation such as formula (I) of SINS subsystem speed, (II) are shown:
Vn=∫ an (Ⅰ)
In formula (I), (II), VnRefer to the speed before updating, anRefer to acceleration；Refer to updated speed,Refer to ratio
Example coefficient, fbRefer to the output of accelerometer,Indicate the rotational-angular velocity of the earth of region,Indicate local geographical coordinate
The projection value of angular speed in system with respect to ECEF coordinate system；
Shown in the renewal equation of SINS subsystem position such as formula (III):
In formula (III),Updated latitude, longitude, height are referred respectively to, h indicates the height before updating,It indicates to carry
Body angle of drift,WithIt is upward to refer respectively to north orientation of the carrier in the navigational coordinate system of region, east orientation and day
Speed, RM、RNRefer respectively to the meridian circle of carrier current location, the radius of curvature of prime vertical.
6. the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system according to claim 4, special
Sign is, in GNSS subsystem, GNSS subsystem obtains speed and the position of vehicle by the resolving of satellite navigation and positioning algorithm,
Include:
A, pseudorange is calculated according to pseudorange observation equation, shown in pseudorange observation equation such as formula (IV):
In formula (IV), n refers to satellite number, ρ(n)Refer to pseudorange, r(n)Refer to receiver to satellite n geometric distance；δtuRefer to and connects
Receipts machine clock clock deviation, δ t(n)Refer to satellite clock clock deviation, I(n)Refer to that ionosphere is delayed, T(n)Refer to that troposphere is delayed,Refer to
Pseudo range measurement quantifies noise；
B, joint pseudorange observation equation obtains pseudorange observation equation group, resolves the position that pseudorange observation equation group calculates carrier, pseudo-
Away from shown in observational equation group such as formula (V):
In formula (V), (x(i),y(i),z(i)) vector form be x(n)=[x(n),y(n),z(n)]T, refer to the position coordinates of satellite n
Vector, i=1,2,3...N；The vector form of (x, y, z) is x=[x, y, z]T, refer to unknown carrier positions coordinate；ρ(i)It is
Pseudorange of the finger carrier to i-th star；
C, derivation is carried out to pseudorange observation equation, obtains the speed of carrier, shown in derivation formula such as formula (VI):
In formula (VI),Refer to the aggregate distance change rate of satellite and receiver, δ fuRefer to receiver clock frequency drift, δ f(n)Point
It is not the clock frequency drift of satellite n,Refer to other error terms；
D, it is updated according to the state equation of Kalman filter final as a result, establishing algorithm in conjunction with speed, the information of position
State equation, as shown in formula (VII):
In formula (VII),Refer to the state vector at updated k moment；FkRefer to state-transition matrix, XkFor the state at k moment
Vector, i.e. velocity error and location error, GkRefer to that noise drives matrix, WkRefer to system noise vector array.
7. the operation method of Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system according to claim 3, special
Sign is that step (2), Hall sensor is had the records of distance by the log, and refers to:
Assuming that the tire radius of taxi is R, the meter that the Hall sensor of taximeter exports at the i-th moment to the i+1 moment
Calculation pulse is k, and (VIII) has the records of distance by the log according to the following formula:
In formula (VIII), S refers to the mileage that Hall sensor measures.
8. according to the operation side of any Beidou GNSS/DR integrated navigation taxi driving range metering timekeeping system of claim 3-7
Method, which is characterized in that in step (4), calculate mileage that the obtained mileage of GNSS/DR integrated navigation and Hall sensor obtain it
Between error rate, it is assumed that the latitude and longitude coordinates of the i moment A point obtained by integrated navigation technology are denoted as A (ja, wa), i+1 moment B
Point latitude and longitude coordinates are denoted as B (jb, wb), and ja refers to that the longitude of A point, wa refer to that the latitude of A point, jb refer to that the longitude of B point, wb are
Refer to the latitude of B point；
According to coordinate transformation formula, the latitude and longitude coordinates of A, B two o'clock are converted into spherical coordinate, Formula of Coordinate System Transformation such as formula
(Ⅸ), shown in formula (Ⅹ):
In formula (Ⅸ), formula (Ⅹ), (Xa, Ya, Za) refers to the spherical coordinate of A point；(Xb, Yb, Zb) refers to the spherical coordinate of B point；
R ' is region earth radius；
Obtain meeting three-dimensional mileage under the spherical coordinate of practical situationShown in calculation formula such as formula (Ⅺ):
Assuming that the mileage for measuring taxi meter is S in jth sectionj, the mileage of integrated navigation is Lj, utilize taxi meter
Mileage SjWith the mileage L of integrated navigationjCalculate the error rate of segmentation mileage, the calculation formula ε of the error rate of jth sectionjSuch as formula
(Ⅻ) shown in:
εjFor the mileage error rate of jth section, shown in total kilometrage error rate Σ calculation formula such as formula (XIII):
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