CN110766105A - Vehicle key positioning method, device and equipment - Google Patents
Vehicle key positioning method, device and equipment Download PDFInfo
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Abstract
The invention provides a key positioning method, a key positioning device and key positioning equipment for a vehicle, wherein the method comprises the following steps: acquiring vehicle position data of the last moment from the running track data of the vehicle as starting point position data of a key; the validity of a satellite positioning system in the key is detected in real time, and when the satellite positioning system fails, the current-time position data of the key is determined to be stored in a memory according to the movement data acquired by a sensor module in the key at the current time and the last-time position data of the key; when the satellite positioning system is effective, determining that the position data of the key at the current moment is stored in the memory according to the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module; and generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track. Therefore, the key can be accurately positioned when the satellite positioning system fails.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a key positioning method, device and equipment for a vehicle.
Background
With the development of technology, people have higher and higher requirements on the positioning of vehicle keys.
In the related art, a vehicle key is located by a satellite Positioning System such as a GPS (Global Positioning System). However, without GPS signals, the key cannot be located.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for locating a key of a vehicle, which obtains a motion trajectory of the key according to movement data collected by a sensor module when a satellite positioning system fails, so as to accurately locate the key.
A second object of the present invention is to provide a key positioning device for a vehicle.
A third object of the present invention is to provide a vehicle key.
A fourth object of the invention is to propose an electronic device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a key positioning method for a vehicle, including:
monitoring the working state of a key of a vehicle, and if the key is known to leave the vehicle and the distance between the key and the vehicle meets a preset range, acquiring vehicle position data of the last moment from the running track data of the vehicle as starting point position data of the key and storing the starting point position data in a memory of the key;
detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory; if the satellite positioning system is effective, calculating positioning data acquired by the satellite positioning system at the current moment and movement data acquired by a sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory;
and generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track.
According to the key positioning method of the vehicle, the working state of the key of the vehicle is monitored, and when the fact that the key is away from the vehicle and the distance between the key and the vehicle meets the preset range is known, the vehicle position data of the last moment is obtained from the running track data of the vehicle and is stored in the memory of the key as the starting point position data of the key. Then, detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in a memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory. And further, generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track. Therefore, when the satellite positioning system fails, the motion track of the key is obtained according to the movement data acquired by the sensor module, the key is accurately positioned, and the universality is high. In addition, the key track can be calculated in detail according to the movement data acquired by the sensor module, the positioning data of the satellite positioning system can be corrected, and the positioning accuracy is further improved.
To achieve the above object, a second aspect of the present invention provides a key positioning device for a vehicle, including:
the key management system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for monitoring the working state of a key of a vehicle, and acquiring vehicle position data of the last moment from the running track data of the vehicle as starting point position data of the key to be stored in the storage of the key if the fact that the key is away from the vehicle and the distance between the key and the vehicle meets a preset range is known;
the processing module is used for detecting the effectiveness of the satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by the sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory; if the satellite positioning system is effective, calculating positioning data acquired by the satellite positioning system at the current moment and movement data acquired by a sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory;
and the positioning module is used for generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments and positioning the key according to the key track.
According to the key positioning device of the vehicle, the working state of the key of the vehicle is monitored, and when the fact that the key is away from the vehicle and the distance between the key and the vehicle meets the preset range is known, the vehicle position data at the last moment is obtained from the running track data of the vehicle and is stored in the memory of the key as the starting point position data of the key. Then, detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in a memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory. And further, generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track. Therefore, when the satellite positioning system fails, the motion track of the key is obtained according to the movement data acquired by the sensor module, the key is accurately positioned, and the universality is high. In addition, the key track can be calculated in detail according to the movement data acquired by the sensor module, the positioning data of the satellite positioning system can be corrected, and the positioning accuracy is further improved.
To achieve the above object, a third aspect of the present invention provides a vehicle key including: a satellite positioning system, a sensor module, a memory, and a key positioning device of a vehicle as described in the second aspect embodiment.
To achieve the above object, a fourth embodiment of the present invention provides an electronic device, including: a processor and a memory; wherein the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the key location method of the vehicle according to the embodiment of the first aspect.
To achieve the above object, a fifth embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the key location method of the vehicle according to the first embodiment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 illustrates a key composition architecture diagram that may be applied to embodiments of a key location method or apparatus of a vehicle of the present invention;
FIG. 2 is a schematic flow chart illustrating a key positioning method for a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another method for locating a key of a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a practical application of a key positioning method for a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a key positioning device for a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another vehicle key positioning device provided in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A key positioning method, a key positioning apparatus, an electronic device, and a storage medium of a vehicle according to embodiments of the present invention are described below with reference to the accompanying drawings.
FIG. 1 shows a key composition architecture diagram of an embodiment of a key location method or apparatus that may be applied to a vehicle of the present invention.
As shown in fig. 1, the key includes: the device comprises a memory, a sensor module, a satellite positioning system, an MCU (Micro control unit), a communication module and a display module.
The memory is used for storing and recording position data generated when the key runs and can be imported into the map library to form a historical track.
The sensor module is composed of a plurality of sensors, for example, a gyroscope, an acceleration sensor, a speed sensor, an angle sensor, etc., so as to provide the MCU with the motion state information of the key.
The satellite Positioning System comprises a satellite Positioning antenna and a satellite signal processor, wherein the satellite Positioning System comprises a BD (Beidou satellite navigation System), a GPS (Global Positioning System), a GLONESS (Russian satellite navigation System), a GALILEO (Galileo satellite navigation System) and other modes, and can realize multimode Positioning at the same time, utilize the random distribution of various Positioning satellite errors, synthesize the Positioning information of various Positioning systems, improve the Positioning precision, and provide key satellite Positioning position information for the MCU. Of course, the present embodiment may adopt a multimode behavior, and may also adopt a single-mode positioning, which is not limited herein.
The MCU is used for processing data sent by the satellite positioning system and the sensor module, calculating the position information of the key according to the related data and storing the position information in the memory.
The display module mainly comprises a display screen and a touch system, the MCU sends the map and the navigation information to the display module, and then the key is operated relatively through the touch system. The communication module is used for realizing the communication function of the key.
It should be understood that the key composition architecture shown in fig. 1 is merely exemplary, and that modifications, substitutions, and variations can be made to the key composition architecture according to actual needs.
Fig. 2 is a schematic flow chart of a key positioning method for a vehicle according to an embodiment of the present invention, and as shown in fig. 2, the method includes:
In this embodiment, the key operating state of the vehicle needs to be detected, and then the track positioning function of the key is started when the key is far away from the vehicle.
As an example, the distance between the key and the vehicle may be detected, and when the key is away from the vehicle and the distance between the key and the vehicle is greater than a preset distance, the last vehicle position data may be obtained from the running track data of the vehicle as the starting point position of the key, and the starting point position data may be stored in the memory of the key.
The preset distance can be determined by a large amount of experimental data, and can also be set according to actual requirements. The vehicle position data may be latitude and longitude data, or may also be map coordinate data, which is not limited herein.
102, detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in a memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory.
As an example, the signal strength of the satellite positioning system may be detected in real time, the satellite positioning system may be determined to be valid when the signal strength is greater than or equal to a preset threshold, and the satellite positioning system may be determined to be invalid when the signal strength is less than the preset threshold.
It should be noted that the above implementation manner for detecting the validity of the satellite positioning system is only exemplary, and for example, the validity of the satellite positioning system may also be determined by detecting that the satellite signal is lost, the positioning error of the satellite positioning system exceeds the approved standard deviation, and the circuit is faulty.
In this embodiment, the position data of the key at the current time may be determined according to the validity of the satellite positioning system, which is described as follows.
In an embodiment of the invention, when the satellite positioning system fails, the sensor module may be used to collect the movement data of the vehicle, and the movement data collected by the sensor module at the current time may be calculated according to a preset algorithm to generate the reference position of the key at the current time. And further, summing the reference position of the key at the current time and the position data of the key at the previous time, and determining the position data of the key at the current time to be stored in the memory.
For example, the vehicle movement direction data, the acceleration data, the speed data, and the like at the current time may be calculated by a preset algorithm, and displacement data of the key during the period from the previous time to the current time may be generated. And then, summing calculation is carried out according to the displacement data of the key and the position data of the key at the previous moment, so that the position data of the key at the current moment is determined, and the position data is stored in a memory of the key.
The movement data collected by the sensor module includes, but is not limited to, vehicle movement direction data, acceleration data, speed data, and the like.
It should be noted that, in this embodiment, the time interval between the current time and the previous time may be determined by a large amount of experimental data, or may be set according to actual needs. The preset algorithm can be set by a person skilled in the art according to actual needs, and is not limited herein.
It can be understood that in case of failure of the satellite positioning system, positioning by the satellite positioning system is not possible. Therefore, the movement data of the vehicle can be acquired through the sensor module, the reference position of the key at the moment is calculated, and the position data at the current moment is generated by combining the position data at the previous moment of the key, so that the key can be positioned when the satellite positioning system is invalid.
In an embodiment of the present invention, when the satellite positioning system is valid, the movement data acquired by the sensor module at the current time may be calculated according to a preset algorithm to generate the calibration position of the key at the current time. Furthermore, the positioning data acquired by the satellite positioning system at the current moment is corrected according to the calibration position of the key at the current moment, and the position data of the key at the current moment is determined to be stored in the memory.
For example, the movement data acquired by the sensor module at the current moment can be calculated through a preset algorithm, the displacement data of the key in the period from the previous moment to the current moment is generated, and then the summation calculation is performed according to the displacement data of the key and the position data of the key at the previous moment, so that the calibration position of the key at the current moment is generated. Further, error processing is carried out according to the calibration position of the key at the current time and the positioning data of the satellite positioning system at the current time, the position data of the key at the current time is calculated through a correlation algorithm, and the position data is stored in a memory of the key.
It can be understood that when the satellite positioning system is effective, the positioning data acquired by the satellite positioning system can be corrected by calculating the key position generated according to the mobile data acquired by the sensor module so as to determine the position data of the key at the current moment, the problem that the satellite positioning system is inaccurate in positioning when the signal is weakened is solved, and the accuracy of key positioning is improved.
And 103, generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track.
In this embodiment, since the start position data of the key and the position data corresponding to a plurality of times have been obtained, the key trajectory can be generated, and the key can be positioned according to the key trajectory.
There are various ways to locate the key according to the key trajectory.
In an embodiment of the present invention, a key trajectory may be displayed in a map according to the start position data of the key and the position data corresponding to a plurality of times, so that the user may locate the key. For example, the corresponding positions can be displayed on a map according to the start position data of the key and the position data corresponding to a plurality of moments, and then the positions corresponding to adjacent moments are connected, so that the track of the key is displayed on the map, and a user can position the key according to the track of the key.
In an embodiment of the present invention, when the map database does not have the position data of the key at a certain time, a 3D (3 Dimensions) map display key trajectory may be generated to enable the user to locate the key. For example, the start position data of the key and the position data corresponding to a plurality of moments may be matched with the position data in the map database, and when the matching is successful, the key trajectory is displayed in the map; when the matching is unsuccessful, a 3D map can be generated, the corresponding positions at all times are displayed in the 3D map, and the corresponding positions at adjacent times are connected, so that the track of the key is displayed on the 3D map, and the user can position the key according to the track of the key.
It should be noted that, the implementation manner of positioning the key according to the key trajectory is merely exemplary, and the key positioning may be implemented by only one manner, or may be implemented by combining multiple manners, which is not limited herein.
In summary, in the key positioning method for the vehicle according to the embodiment of the present invention, the key operating state of the vehicle is monitored, and when it is known that the key is away from the vehicle and the distance between the key and the vehicle satisfies the preset range, the vehicle position data at the last moment is obtained from the vehicle running track data and is stored in the memory of the key as the start position data of the key. Then, detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in a memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory. And further, generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track. Therefore, when the satellite positioning system fails, the motion track of the key is obtained according to the movement data acquired by the sensor module, the key is accurately positioned, and the universality is high. In addition, the key track can be calculated in detail according to the movement data acquired by the sensor module, the positioning data of the satellite positioning system can be corrected, and the positioning accuracy is further improved. In addition, the movement track of the key after leaving the vehicle is obtained, the position of the vehicle can be found according to the track of the key, and the product functions are expanded.
In order to explain the present invention more clearly, the key location method of the vehicle according to the embodiment of the present invention will be described in detail below with reference to the case where the satellite positioning system fails.
Fig. 3 is a schematic flow chart of another key positioning method for a vehicle according to an embodiment of the present invention, as shown in fig. 3, the method includes:
Optionally, the MCU of the key may be initialized, and after the MCU enters a ready state, the MCU performs security detection and error correction on each module of the key, thereby determining the operating state of each module.
And step 202, if the operation state of each module is known to be good, displaying normal operation information through the display module.
And 203, if the fault of each module is known, generating a fault code and sending the fault code to the background server, and displaying warning information through the display module.
In one embodiment of the invention, when the good running state of each module of the key is detected, the running normal information is displayed through the display module. And then starts to detect the key operation state of the vehicle.
In one embodiment of the invention, when detecting that each module of the key has a fault, the MCU performs fault troubleshooting, generates a fault code, sends the fault code to the background server, and displays warning information through the display module.
The implementation manner of displaying the relevant information through the display module includes, but is not limited to, a text form, a voice form, and the like.
And 204, monitoring the working state of the key of the vehicle, and if the fact that the key is away from the vehicle and the distance between the key and the vehicle meets a preset range is known, obtaining vehicle position data of the last moment from the running track data of the vehicle as starting position data of the key and storing the data in a memory of the key.
There are various ways to obtain the last vehicle position data from the vehicle trajectory data. For example, the traveling locus data of the vehicle may be acquired by an on-vehicle satellite positioning system. For another example, the vehicle trajectory data may be acquired by an on-board satellite positioning system and sensors. Further, vehicle position data at the last time is acquired from the running track data of the vehicle as start position data of the key and stored in the memory of the key.
The explanation of the foregoing embodiment for detecting the key operating state is also applicable to this embodiment, and is not repeated herein.
And step 205, detecting the effectiveness of the satellite positioning system in the key in real time, and if the satellite positioning system is invalid, calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a reference position of the key at the current moment.
In one embodiment of the invention, the sensor module of the key comprises a gyroscope, a speed sensor, an acceleration sensor, an angle sensor. Use the horizontal plane as XY coordinate plane, altitude is Z axle coordinate system, and the removal data that the sensor module gathered include:
obtaining direction data omega (omega) of key movement by a gyroscopex,ωy,ωz) Wherein, ω isxIs an angular deflection component, omega, in the direction of the X axisyIs a component of angular offset in the Y-axis direction, ωzAcceleration data α obtained by the acceleration sensor during the key movement is (α)x,ωy,ωz) Wherein, αxα as a component of acceleration in the X-axis directionyα as a component of acceleration in the Y-axis directionzIs the Z-axis direction acceleration component. The speed gamma of the key movement is obtained by a speed sensor, and the key speed v ═ is calculated according to omegax,ωy,ωz) Wherein v isxIs a component of velocity in the X-axis direction, vyIs a velocity component in the Y-axis direction, vzIs the Z-direction velocity component.
The plane displacement integral equation is:
namely, it is
In the calculation process of the MCU, Fourier transformation is carried out on the MCU, and the trigonometric function is calculated in the frequency domain range, so that the calculation period can be shortened. And the value of T can be taken to microsecond level to reduce accumulated error. Thereby, a reference position of the key at the present time can be generated.
And step 206, summing the reference position of the key at the current time and the position data of the key at the previous time, and determining that the position data of the key at the current time is stored in the memory.
As an example, s may be(s) scaled by a correlation algorithm or mathematical modelx,sy,sz) The displacement is converted into lg (longitude), Lat (latitude) and Ele (altitude) of WGS-84 standard, and W is further converted into (lg, Lat, Ele) and the last-time position data W called up in the memory into (lg)t1,Latt1,Elet1) Performing summation calculation to obtain the position data W ═ (Lng) of the current timet1+Lng，Latt1+Lat，Elet1+Ele)。
Where, in W ═ Lng, Lat, and Ele (Lng, Lat, Ele), Lng, Lat, and Ele are relative quantities, and may be positive values or negative values, and are scaled by vector displacements. After a period of time, the MCU calculates a series of position data, then the data are processed by Kalman filtering, and the position data are extracted by an equal-interval sampling mode and stored in a memory.
It should be noted that the explanation for calculating the movement data acquired by the sensor module at the current time according to the preset algorithm to determine the position data of the key at the current time is also applicable to generating the calibration position of the key at the current time when the satellite positioning system is valid, and details are not repeated here.
Furthermore, a key track can be generated according to the starting point position data of the key and the position data corresponding to a plurality of moments, and the key can be positioned according to the key track.
The key positioning method of the vehicle provided by the embodiment of the invention can also be used for carrying out security detection on each module of the key, so that the stability of the system is improved. And when the satellite positioning system fails, calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a reference position of the key at the current moment, and further performing summation calculation on the reference position of the key at the current moment and the position data of the key at the previous moment to determine the position data of the key at the current moment. Therefore, the key can be positioned when the satellite positioning system fails, the position of the key can be inquired through other terminals, and the stability and the accuracy of key positioning are improved. In addition, for the key which realizes the positioning by utilizing the near field communication base station, when the near field communication base station does not exist nearby, the accurate positioning of the key can be realized by the key positioning method of the vehicle provided by the embodiment of the invention.
In order to explain the present invention more clearly, the following description is made in conjunction with the practical application scenario.
As shown in fig. 4, after the system is started, the MCU is initialized, and after the MCU enters a ready state, the MCU performs security detection on each module of the key, mainly determines the operating state of each module, and corrects errors. If the running state of each module is good and the configuration of each parameter is successful, the MCU starts to run the vehicle detection function, otherwise, the MCU enters a fault diagnosis mode, carries out fault troubleshooting on each functional module of the system one by one, then produces fault codes, reports the fault codes to the background server through the communication module, and sends the fault codes to the display module to display warning information. After the safety detection of the key passes, whether the vehicle is nearby or not is detected, and if the vehicle is nearby and the key is in the vehicle, the key does not perform track positioning processing; if the vehicle is nearby and the key leaves the vehicle, the running track data in the vehicle is called and recorded in the key, and the key takes the end point of the track as the starting point of the key track to calculate the track of the key. The running track data of the vehicle can be acquired during the running process of the vehicle. For example, in the absence of GPS, the vehicle may first record the trajectory using inertial navigation. When the key is far from the vehicle after the vehicle is parked, the vehicle transmits the running track data to the key so that the key takes it as a starting point of the key track.
Furthermore, in the track operation function, the MCU acquires positioning data sent by the satellite positioning system and data sent by the sensor module, and the MCU firstly performs primary processing on the data received by the sensor and then detects the effective state of the satellite system. When the MCU detects that the satellite positioning system is invalid, the MCU immediately calls the position data of the latest moment from the memory, then carries out error processing according to the sensor data, calculates the final position data, and then stores the final position data in the memory. When the MCU detects that the satellite positioning system is effective, the MCU performs error accounting on the satellite positioning data according to the track data calculated by the sensor data, and stores the data into the memory after confirming that the satellite data is correct. Therefore, the key can be positioned when the satellite positioning system fails, and the positioning accuracy is improved.
In order to realize the embodiment, the invention also provides a key positioning device of the vehicle. Fig. 5 is a schematic structural diagram of a key positioning device for a vehicle according to an embodiment of the present invention, and as shown in fig. 5, the key positioning device includes: the system comprises an acquisition module 100, a processing module 200 and a positioning module 300.
The obtaining module 100 is configured to monitor a key operating state of the vehicle, and if it is known that the key is away from the vehicle and a distance between the key and the vehicle satisfies a preset range, obtain vehicle position data at a last moment from the vehicle running track data as start position data of the key and store the start position data in a memory of the key.
The processing module 200 is configured to detect validity of the satellite positioning system in the key in real time, and if it is known that the satellite positioning system is invalid, calculate, according to a preset algorithm, movement data acquired by a sensor module in the key at the current time and position data of the key at the previous time, and determine that the position data of the key at the current time is stored in the memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory.
The positioning module 300 is configured to generate a key trajectory according to the start position data of the key and the position data corresponding to the plurality of times, and position the key according to the key trajectory.
On the basis of fig. 5, the key positioning device of the vehicle shown in fig. 6 further includes: and a detection module 400 and a display module 500.
The detection module 400 is configured to perform security detection on each module of the key, and determine an operation state of each module.
The display module 500 is used for displaying normal operation information through the display module if the operation state of each module is known to be good; and if the fact that each module has faults is known, generating fault codes and sending the fault codes to the background server, and displaying warning information through the display module.
Further, the processing module 200 is specifically configured to: calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a reference position of the key at the current moment; and summing the reference position of the key at the current moment and the position data of the key at the previous moment, and storing the position data of the determined key at the current moment in a memory.
Further, the processing module 200 is specifically configured to: calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a calibration position of the key at the current moment; and correcting the positioning data acquired by the satellite positioning system at the current moment according to the calibration position of the key at the current moment, and determining the position data of the key at the current moment and storing the position data in a memory.
Further, the positioning module 300 is specifically configured to: and displaying a key track in a map according to the starting point position data of the key and the position data corresponding to a plurality of moments, or generating a 3D map to display the key track so that a user can position the key.
It should be noted that the explanation of the key positioning method for the vehicle in the foregoing embodiment is also applicable to the key positioning device for the vehicle in this embodiment, and the details are not repeated herein.
According to the key positioning device of the vehicle, the working state of the key of the vehicle is monitored, and when the fact that the key is away from the vehicle and the distance between the key and the vehicle meets the preset range is known, the vehicle position data at the last moment is obtained from the running track data of the vehicle and is stored in the memory of the key as the starting point position data of the key. Then, detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in a memory; if the satellite positioning system is effective, calculating the positioning data acquired by the satellite positioning system at the current moment and the movement data acquired by the sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory. And further, generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track. Therefore, when the satellite positioning system fails, the motion track of the key is obtained according to the movement data acquired by the sensor module, the key is accurately positioned, and the universality is high. In addition, the key track can be calculated in detail according to the movement data acquired by the sensor module, the positioning data of the satellite positioning system can be corrected, and the positioning accuracy is further improved.
In order to implement the foregoing embodiment, the present invention further provides an electronic device, and fig. 7 is a schematic structural diagram of the electronic device according to the embodiment of the present invention, as shown in fig. 7, the electronic device includes: a memory 701 and a processor 702; the processor 702 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 701, so as to implement the key positioning method for a vehicle according to any of the foregoing embodiments.
In order to implement the above embodiments, the present application also proposes a computer program product, which when executed by an instruction processor in the computer program product implements the key location method of the vehicle according to any of the foregoing embodiments.
In order to implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a key location method of a vehicle as described in any of the preceding embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. A key positioning method for a vehicle, comprising the steps of:
monitoring the working state of a key of a vehicle, and if the key is known to leave the vehicle and the distance between the key and the vehicle meets a preset range, acquiring vehicle position data of the last moment from the running track data of the vehicle as starting point position data of the key and storing the starting point position data in a memory of the key;
detecting the effectiveness of a satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by a sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory; if the satellite positioning system is effective, calculating positioning data acquired by the satellite positioning system at the current moment and movement data acquired by a sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory;
and generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments, and positioning the key according to the key track.
2. The method of claim 1, further comprising:
carrying out security detection on each module of the key, and determining the running state of each module;
if the operation state of each module is known to be good, displaying normal operation information through a display module;
and if the fact that the modules have faults is known, generating fault codes and sending the fault codes to a background server, and displaying warning information through the display module.
3. The method of claim 1, wherein if it is known that the satellite positioning system is disabled, calculating movement data collected by a sensor module in the key at a current time and position data of the key at a previous time according to a preset algorithm, and determining that the position data of the key at the current time is stored in the memory comprises:
calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a reference position of the key at the current moment;
and summing the reference position of the key at the current moment and the position data of the key at the previous moment, and determining that the position data of the key at the current moment is stored in the memory.
4. The method of claim 1, wherein if the satellite positioning system is known to be valid, calculating positioning data collected by the satellite positioning system at the current time and movement data collected by the sensor module according to a preset algorithm, and determining that the position data of the key at the current time is stored in the memory comprises:
calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a calibration position of the key at the current moment;
and correcting the positioning data acquired by a satellite positioning system at the current moment according to the calibration position of the key at the current moment, and determining the position data of the key at the current moment to be stored in the memory.
5. The method of claim 1, wherein said locating the key based on the key trajectory comprises:
and displaying the key track in a map according to the starting point position data of the key and the position data corresponding to a plurality of moments, or generating a 3D map to display the key track so as to enable a user to position the key.
6. A key positioning device for a vehicle, comprising:
the key management system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for monitoring the working state of a key of a vehicle, and acquiring vehicle position data of the last moment from the running track data of the vehicle as starting point position data of the key to be stored in the storage of the key if the fact that the key is away from the vehicle and the distance between the key and the vehicle meets a preset range is known;
the processing module is used for detecting the effectiveness of the satellite positioning system in the key in real time, if the satellite positioning system is invalid, calculating the movement data acquired by the sensor module in the key at the current moment and the position data of the key at the previous moment according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory; if the satellite positioning system is effective, calculating positioning data acquired by the satellite positioning system at the current moment and movement data acquired by a sensor module according to a preset algorithm, and determining that the position data of the key at the current moment is stored in the memory;
and the positioning module is used for generating a key track according to the starting point position data of the key and the position data corresponding to a plurality of moments and positioning the key according to the key track.
7. The apparatus of claim 6, further comprising:
the detection module is used for carrying out safety detection on each module of the key and determining the running state of each module;
the display module is used for displaying normal operation information through the display module if the operation state of each module is good;
and if the fact that the modules have faults is known, generating fault codes and sending the fault codes to a background server, and displaying warning information through the display module.
8. The apparatus of claim 6, wherein the processing module is specifically configured to:
calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a reference position of the key at the current moment;
and summing the reference position of the key at the current moment and the position data of the key at the previous moment, and determining that the position data of the key at the current moment is stored in the memory.
9. The apparatus of claim 6, wherein the processing module is specifically configured to:
calculating the movement data acquired by the sensor module at the current moment according to a preset algorithm to generate a calibration position of the key at the current moment;
and correcting the positioning data acquired by a satellite positioning system at the current moment according to the calibration position of the key at the current moment, and determining the position data of the key at the current moment to be stored in the memory.
10. The apparatus of claim 6, wherein the positioning module is specifically configured to:
and displaying the key track in a map according to the starting point position data of the key and the position data corresponding to a plurality of moments, or generating a 3D map to display the key track so as to enable a user to position the key.
11. A vehicle key, characterized by comprising: satellite positioning system, sensor module, memory, and key positioning device of a vehicle according to any of claims 6-10.
12. The vehicle key of claim 11, further comprising: communication module and display module.
13. An electronic device, comprising: a processor and a memory;
wherein the memory is to store executable program code; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the key location method of the vehicle according to any one of claims 1 to 5.
14. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a key location method for a vehicle according to any one of claims 1-5.
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| CN201810847668.8A CN110766105A (en) | 2018-07-27 | 2018-07-27 | Vehicle key positioning method, device and equipment |
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| CN201810847668.8A CN110766105A (en) | 2018-07-27 | 2018-07-27 | Vehicle key positioning method, device and equipment |
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