CN116466382A - GPS-based high-precision real-time positioning system - Google Patents
GPS-based high-precision real-time positioning system Download PDFInfo
- Publication number
- CN116466382A CN116466382A CN202310447639.3A CN202310447639A CN116466382A CN 116466382 A CN116466382 A CN 116466382A CN 202310447639 A CN202310447639 A CN 202310447639A CN 116466382 A CN116466382 A CN 116466382A
- Authority
- CN
- China
- Prior art keywords
- positioning
- gps
- real
- offline
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 15
- 230000006399 behavior Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 230000008030 elimination Effects 0.000 claims 1
- 238000003379 elimination reaction Methods 0.000 claims 1
- 239000010410 layer Substances 0.000 description 20
- 238000005516 engineering process Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002355 dual-layer Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention discloses a GPS-based high-precision real-time positioning system, which relates to the technical field of positioning and comprises a path planning acquisition end, a GPS positioning end, an off-line positioning end, a GPS signal detection end and a model analysis end. This GPS-based high accuracy real-time positioning system, through the degree of deviation between GPS module in advance analysis off-line location end and the GPS location end under the condition that the signal is strong, guarantee the accuracy of real-time location of off-line location end under the condition that GPS signal state is weak, through integrating the analysis line that traveles many times, automatically generate the target map of underground parking area, reduce the task volume of manual editing map, improve the accuracy of target map, strengthen the experience sense of user's location navigation effectively, the bilayer road locate function of slope monitoring sensor, make things convenient for the real-time location of bilayer road, avoid the user to miss the lane in getting into bilayer road after, the actual position of bilayer road can not be accurately marked to the locating signal.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a GPS-based high-precision real-time positioning system.
Background
With the rapid development of satellite technology and wireless network technology, the current navigation technology can realize rapid real-time positioning and monitor real-time road conditions, thereby helping users to judge road conditions in time.
However, in the navigation technology in the prior art, the vehicle is positioned in real time mainly through the wireless network technology and the satellite technology, but when the wireless network condition is poor, the real-time performance of the positioning is affected, particularly, after the automobile positioning system enters an underground garage or a tunnel, the signal is interrupted, the user cannot be positioned in real time continuously, and the direction cannot be found quickly after the user enters the unfamiliar underground garage.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a GPS-based high-precision real-time positioning system, which solves the problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: a GPS-based high precision real-time positioning system, comprising:
the route planning acquisition end is used for planning a driving route based on a satellite map in combination with the current position of the vehicle and the position of a destination, acquiring road information in the driving route, and then transmitting the driving route to the GPS positioning end and the offline positioning end, wherein the road information comprises underground parking lots near the destination, urban viaduct entrance and exit positions in double-layer roads and up-and-down slope mileage of the entrance and the exit;
the GPS positioning end is provided with a GPS signal implementation real-time positioning function and is used for acquiring real-time position information of the vehicle, marking the real-time position information on a driving route and then transmitting the real-time position information marked on the driving route to the model analysis end;
the off-line positioning end has an off-line positioning analysis function and an off-line real-time positioning implementation function, and is used for respectively acquiring the body inclination angle, the front wheel steering angle and the wheel running turns of the vehicle through the inclination monitoring sensor, the steering angle sensor and the turn number sensor, and transmitting the acquired body inclination angle, the front wheel steering angle and the wheel running turns to the model analysis end;
the GPS signal detection end is used for acquiring a GPS signal value in real time, and the function implementation of the offline positioning end is determined by continuously comparing the GPS signal value acquired in real time with a preset signal threshold value;
the model analysis end is used for integrating the vehicle body inclination angle, the front wheel steering angle and the offline travel distance in the same time period to generate offline position information when the offline positioning analysis function is implemented, and then preprocessing the offline position information to obtain a compensation coefficient; and the method is also used for combining the offline position information with the compensation coefficient to generate path model information when the offline real-time positioning function is implemented, so as to further determine the current positioning position of the vehicle.
Preferably, the inclination angle of the vehicle body is obtained by monitoring the inclination angle of the chassis by taking the chassis of the vehicle parallel to the horizontal line as a reference, the rotation angle of the steering wheel is obtained by monitoring the rotation angle of the steering wheel by taking the forward running angle of the vehicle as a reference, and the running circle number of the wheels is the average value of the rotation circle numbers of two groups of front wheels of the vehicle.
Preferably, the offline position information is integrated in the following manner:
acquiring a vehicle body inclination angle, a front wheel steering angle, an offline travel distance and a travel route planned by a path planning acquisition end in the same period;
and calculating the horizontal distance of the vehicle running on the running route through the off-line running distance and the vehicle body inclination angle by using the collude law, judging the position of the vehicle on the running route according to the front wheel steering angle and the horizontal distance, and taking the position as off-line position information.
Preferably, the function implementation of determining the offline positioning end is as follows:
when the GPS signal value is larger than or equal to a preset information threshold value, and the GPS signal state is strong, enabling a GPS positioning end to implement a GPS real-time positioning function, and enabling an offline positioning analysis function of an offline positioning end; otherwise, if the GPS signal state is weak, the off-line positioning end is started to implement the off-line real-time positioning function.
Preferably, the specific pretreatment mode of the model analysis end is as follows:
s1, when an offline positioning analysis function is implemented, a GPS positioning end is in an enabled state, and a driving route is divided into m processing sections
S2, acquiring real-time position information and offline position information of each processing section, calculating the distance difference between the real-time position information and the offline position information, and marking the distance difference as LY1, LY2, and LYm in sequence;
s3, then according to the formulaCalculating a deviation value LP of the set of data and taking the deviation value LP as a compensation coefficient γ, wherein LYp is an average value of LY1, LY2, LYm;
s4, continuously obtaining the calculated sum of the positioning distances of the GPS real-time position information of each processing segment, calculating the sum of the positioning distances of the offline position information of each processing segment, and comparing the GPS real-time position information with the sum of the positioning distances of the offline position information;
if the sum of the positioning distances of the GPS real-time position information is larger than that of the offline real-time position information, judging that the compensation coefficient gamma is a positive value;
if the sum of the positioning distances of the GPS real-time position information is smaller than the sum of the positioning distances of the offline real-time position information, the compensation coefficient gamma is judged to be a negative value.
Preferably, the model analysis end is further used for acquiring path model information of other vehicles, then collecting and splicing the path model information, combining the wheel steering sensing module and the turn number sensor, performing disorder eliminating and sorting on the path model information, collecting the path model information into a target map of the underground parking lot, and performing data overlapping processing according to a similarity principle mainly through offline position information acquired by the offline positioning end.
Preferably, the specific mode of the disorder removal is as follows:
a1, acquiring the number of steering behaviors in a certain time through a steering angle sensor, acquiring the frequency of forward and reverse rotation in a certain time through a turn number sensor, judging whether an automobile is in a parking state or a driving state, and further determining a driving route and a parking space in a target map, wherein the number of steering behaviors is recorded as one when the steering angle returns to a reference position by taking the angle of forward driving of the automobile as the reference; the judging mode of the automobile parking/driving state is as follows: firstly, marking one positive rotation and one negative rotation recorded by a turn number sensor as one alternating rotation, then obtaining the times of the alternating rotation in a certain time, judging that the automobile is in a parking state when the alternating rotation times are larger than the preset times, and otherwise, judging that the automobile is in a driving state;
a2, disassembling the running routes in the collected and spliced multiple path model information into multiple running analysis lines according to the rotation angle amplitude of the automobile;
a3, marking the same running analysis line in the path model information through distance parameters, wherein the marking result is as follows: JL1, JL2, & JLn;
the automobile corner amplitude is obtained through the front wheel steering angle of the wheels obtained by the steering angle sensor, the automobile corner amplitude value is compared with a preset amplitude value, and when the automobile corner amplitude value is larger than the preset amplitude value, the position of the section can be used as a plurality of driving analysis line dismantling nodes;
a4, according to the formulaCalculating a discrete value JP for the set of data, comparing LP with a preset discrete value JP1, wherein JLp is the average of JL1, JL2, JLm;
if JP < JP1, reserving a plurality of running analysis lines;
if JP is more than or equal to JP1, deleting corresponding JL i values in sequence from large to small according to the absolute value JL i-JLp until JP is less than JP1, and reserving a plurality of undeleted running analysis lines;
and so on, a plurality of running analysis lines reserved in the plurality of path model information are obtained;
a5, marking the positions of the parking spaces according to a plane coordinate system, and then disassembling the position marks to obtain a plurality of parking space analysis points;
a6, the principle is the same as that of the steps A3 and A4, and a plurality of reserved parking space analysis points are further obtained;
and A7, collecting and splicing the running analysis line obtained in the step A4 and the parking space analysis point obtained in the step A6 to form a target map of the underground parking garage.
Preferably, the inclination monitoring sensor further has a double-layer road positioning function, and the double-layer road positioning function is specifically combined with the path planning acquisition end to perform double-layer road positioning judgment on the running position of the vehicle; the double-layer road is a road overlapped with the urban viaduct and the ground road, and the specific positioning judgment mode is as follows:
b1, acquiring the entrance and exit positions of the urban viaduct in the driving route according to the route planning acquisition end, and starting a double-layer road positioning function when the current position of the vehicle reaches the entrance and exit positions of the urban viaduct;
b2, acquiring the uphill and downhill mileage of the entrance and the exit of the urban viaduct, dividing a section of uphill and downhill mileage into f monitoring points in an equal division manner, acquiring the inclination angle of the vehicle body of each monitoring point, and marking the vehicle body inclination angle as Q in sequence 1 、Q 2 、...、Q f ；
B3 according to the formula qp= [ (Q) 2 -Q 1 )+(Q 3 -Q 1 )+、...、+(Q f -Q 1 )](f-1) calculating to obtain an average value Qp of the inclination angles of the group of data, and then comparing the Qp with a preset inclination angle Qy;
if Qp is more than or equal to Qy, judging that the current position of the vehicle is positioned above the viaduct of the double-layer road; otherwise, judging that the current position of the vehicle is positioned below the viaduct in the double-layer road;
when the head of the automobile is lower than the tail of the automobile, the inclination angle is recorded as a negative value, and the automobile is in a downhill state; otherwise, the inclination angle is recorded as a positive value, and the automobile is in an ascending state.
Advantageous effects
The invention provides a GPS-based high-precision real-time positioning system. Compared with the prior art, the method has the following beneficial effects:
the deviation degree between the off-line positioning end and the GPS positioning end is analyzed in advance under the condition that the GPS module is strong in signal, so that the accuracy of real-time positioning by the off-line positioning end is further ensured under the condition that the GPS signal state is weak;
the target map of the underground parking garage is automatically generated by integrating the multiple driving analysis lines, so that the task amount of manually editing the map is reduced, disorder arrangement is performed on the map, the accuracy of the target map is further improved, and the experience of positioning and navigation of a user is effectively enhanced;
through the double-deck road locate function of design slope monitoring sensor, make things convenient for the real-time location of double-deck road, avoid the user to miss the lane after entering double-deck road, the actual position of double-deck road can not be accurately marked to the locating signal.
Drawings
Fig. 1 is a system block diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a GPS-based high-precision real-time positioning system, as a first embodiment of the present invention, the system includes:
the route planning acquisition end is used for carrying out driving route planning by combining the current position of the vehicle and the position of the destination based on the satellite map, and carrying out road information acquisition in the driving route, wherein the road information comprises underground parking lots near the destination, urban viaduct entrance and exit positions in double-layer roads and up-and-down slope mileage of the entrance and the exit;
the GPS positioning end is provided with a GPS signal implementation real-time positioning function and is used for acquiring real-time position information of the vehicle and transmitting the real-time position information to the model analysis end;
the off-line positioning end has an off-line positioning analysis function and an off-line real-time positioning implementation function, and is used for respectively acquiring the body inclination angle, the front wheel steering angle and the wheel running turns of the vehicle through the inclination monitoring sensor, the steering angle sensor and the turn number sensor, and transmitting the acquired body inclination angle, the front wheel steering angle and the wheel running turns to the model analysis end;
the vehicle body inclination angle is obtained by monitoring the inclination angle of a chassis by taking the chassis of the vehicle parallel to a horizontal line as a reference, the front wheel steering angle is obtained by monitoring the rotation angle of a steering wheel by taking the forward running angle of the vehicle as a reference, and the running circle number of the wheels is the average value of the rotation circle numbers of two groups of front wheels of the vehicle;
the GPS signal detection end is used for acquiring a GPS signal value in real time, and determining an offline positioning analysis function and implementing the offline real-time positioning function by continuously comparing the GPS signal value acquired in real time with a preset signal threshold value;
when the GPS signal value is larger than or equal to a preset information threshold value, and the GPS signal state is strong, enabling a GPS positioning end to implement a GPS real-time positioning function, and enabling an offline positioning analysis function of an offline positioning end; otherwise, if the GPS signal state is weak, the off-line positioning end is started to implement the off-line real-time positioning function;
the model analysis end is used for obtaining the offline travelling distance of the vehicle according to the number of wheel travelling turns and the pre-recorded perimeter of the pre-recorded related vehicle wheels; when the offline positioning analysis function is implemented, integrating the vehicle body inclination angle, the front wheel steering angle and the offline travel distance in the same period to generate offline position information, and then preprocessing the offline position information to obtain a compensation coefficient;
the specific pretreatment mode is as follows:
s1, when an offline positioning analysis function is implemented, a GPS positioning end is in an enabled state, and a driving route is divided into m processing sections;
s2, acquiring real-time position information and offline position information of each processing section, calculating the distance difference between the real-time position information and the offline position information, and marking the distance difference as LY1, LY2, and LYm in sequence;
S3、then according to the formulaCalculating a deviation value LP of the set of data and taking the deviation value LP as a compensation coefficient γ, wherein LYp is an average value of LY1, LY2, LYm;
s4, continuously obtaining the calculated sum of the positioning distances of the GPS real-time position information of each processing segment, calculating the sum of the positioning distances of the offline position information of each processing segment, and comparing the GPS real-time position information with the sum of the positioning distances of the offline position information;
if the sum of the positioning distances of the GPS real-time position information is larger than that of the offline real-time position information, judging that the compensation coefficient gamma is a positive value;
if the sum of the positioning distances of the GPS real-time position information is smaller than the sum of the positioning distances of the offline real-time position information, judging that the compensation coefficient gamma is a negative value;
the integration mode of the offline position information is as follows:
acquiring a vehicle body inclination angle, a front wheel steering angle, an offline travel distance and a travel route planned by a path planning acquisition end in the same period;
calculating the horizontal distance of the vehicle running on the running route through the off-line running distance and the vehicle body inclination angle by using a collude law, judging the position of the vehicle on the running route according to the front wheel steering angle and the horizontal distance, and taking the position as off-line position information;
the model analysis end is also used for combining the offline position information with the compensation coefficient to generate path model information when the offline real-time positioning function is implemented, so as to further determine the current positioning position of the vehicle;
the deviation degree between the off-line positioning end and the GPS positioning end is analyzed in advance under the condition that the GPS module is strong in signal, so that the accuracy of real-time positioning by the off-line positioning end is further ensured under the condition that the GPS signal state is weak;
the model analysis end is used for acquiring path model information of other vehicles, then collecting and splicing the path model information, and combining a wheel steering sensing module and a turn number sensor to disorder-free the path model information, collecting the path model information into a target map of an underground parking lot, collecting and splicing the path model information mainly through offline position information acquired by an offline positioning end, and carrying out data overlapping processing according to a similarity principle, wherein the technology is the prior art, so that the description is omitted;
the specific disorder-eliminating and arranging mode is as follows:
a1, acquiring the steering behavior times in a certain time through a steering angle sensor, acquiring the forward and reverse rotation frequency in a certain time through a turn number sensor, judging whether an automobile is in a parking state or a driving state, and further determining a driving route and a parking space in a target map;
the steering behavior times are based on the forward running angle of the vehicle, and the turning angle of the steering wheel returns to the reference position and is recorded as one time;
the number of turns sensor adopts incremental encoder, and incremental encoder has 3 looks, is A looks, B looks, Z looks respectively, and A looks advances B looks 90 when forward rotation, and B looks advances A looks 90 when reverse rotation, can judge the forward and reverse rotation of number of turns sensor through judging the position of AB looks, and this technique is prior art, so this is unnecessary to describe here, and the decision mode of car parking/driving state is: firstly, marking one positive rotation and one negative rotation recorded by a turn number sensor as one alternating rotation, then obtaining the times of the alternating rotation in a certain time, judging that the automobile is in a parking state when the alternating rotation times are larger than the preset times, and otherwise, judging that the automobile is in a driving state;
a2, disassembling the running routes in the collected and spliced multiple path model information into multiple running analysis lines according to the rotation angle amplitude of the automobile;
a3, marking the same running analysis line in the path model information through distance parameters, wherein the marking result is as follows: JL1, JL2, & JLn;
the automobile corner amplitude is obtained through the front wheel steering angle of the wheels obtained by the steering angle sensor, the automobile corner amplitude value is compared with a preset amplitude value, and when the automobile corner amplitude value is larger than the preset amplitude value, the position of the section can be used as a plurality of running analysis line dismantling nodes;
a4, according to the formulaCalculating a discrete value JP for the set of data, comparing LP with a preset discrete value JP1, wherein JLp is the average of JL1, JL2, JLm;
if JP < JP1, reserving a plurality of running analysis lines;
if JP is more than or equal to JP1, deleting the corresponding JLi values in sequence from the large value to the small value according to the sequence of (JLi-JLp), until JP is less than JP1, and reserving a plurality of undeleted driving analysis lines;
and so on, a plurality of running analysis lines reserved in the plurality of path model information are obtained;
a5, marking the positions of the parking spaces according to a plane coordinate system, and then disassembling the position marks to obtain a plurality of parking space analysis points;
a6, the principle is the same as that of the steps A3 and A4, and a plurality of reserved parking space analysis points are further obtained;
a7, collecting and splicing the running analysis line obtained in the step A4 and the parking space analysis points obtained in the step A6 to form a target map of the underground parking garage;
the target map of the underground parking garage is automatically generated by integrating the multiple driving analysis lines, so that the task amount of manually editing the map is reduced, disorder arrangement is performed on the map, the accuracy of the target map is further improved, and the experience of positioning and navigation of a user is effectively enhanced;
as a second embodiment of the present invention, the present embodiment adds a dual-layer road positioning function to the tilt monitoring sensor based on the first embodiment, specifically:
the inclination monitoring sensor also has a double-layer road positioning function, and the double-layer road positioning function is specifically combined with the path planning acquisition end and is used for judging the double-layer road positioning of the running position of the vehicle; the double-layer road is a route of the urban viaduct overlapped with the ground road;
the specific positioning judgment mode is as follows:
b1, acquiring the entrance and exit positions of the urban viaduct in the driving route according to the route planning acquisition end, and starting a double-layer road positioning function when the current position of the vehicle reaches the entrance and exit positions of the urban viaduct;
b2, acquiring the uphill and downhill mileage of the entrance and the exit of the urban viaduct, dividing a section of uphill and downhill mileage into f monitoring points in an equal division manner, acquiring the inclination angle of the vehicle body of each monitoring point, and marking the vehicle body inclination angle as Q in sequence 1 、Q 2 、...、Q f ；
B3 according to the formula qp= [ (Q) 2 -Q 1 )+(Q 3 -Q 1 )+、...、+(Q f -Q 1 )](f-1) calculating to obtain an average value Qp of the inclination angles of the group of data, and then comparing the Qp with a preset inclination angle Qy;
if Qp is more than or equal to Qy, judging that the current position of the vehicle is positioned above the viaduct of the double-layer road; otherwise, judging that the current position of the vehicle is positioned below the viaduct in the double-layer road;
when the head of the automobile is lower than the tail of the automobile, the inclination angle is recorded as a negative value, and the automobile is in a downhill state; otherwise, the inclination angle is recorded as a positive value, and the automobile is in an ascending state;
by designing the double-layer road positioning function of the inclination monitoring sensor, the real-time positioning of the double-layer road is facilitated, and the problem that the positioning signal cannot accurately mark the actual position of the double-layer road after a user misses a lane in the double-layer road is avoided;
as a third embodiment of the present invention, the present embodiment is used in combination with a vehicle mileage recorder of a vehicle itself based on the first embodiment, specifically, the following steps: taking the average value of the offline travel distance obtained by the model analysis end and the travel distance of the vehicle mileage record meter as the offline actual travel distance of the vehicle, wherein the rest steps are the same as those of the first embodiment;
as embodiment four of the present invention, this embodiment focuses on the implementation of the fusion of embodiment one to embodiment three.
And all that is not described in detail in this specification is well known to those skilled in the art.
The foregoing describes one embodiment of the present invention in detail, but the disclosure is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (8)
1. A GPS-based high precision real-time positioning system, comprising:
the path planning acquisition end is used for planning a driving path based on a satellite map in combination with the current position of the vehicle and the position of a destination, and acquiring road information in the driving path, wherein the road information comprises underground parking lots near the destination, urban viaduct entrance and exit positions in double-layer roads and up-and-down slope mileage of the entrance and the exit;
the GPS positioning end is provided with a GPS signal implementation real-time positioning function and is used for acquiring real-time position information of the vehicle and transmitting the real-time position information to the model analysis end;
the off-line positioning end has an off-line positioning analysis function and an off-line real-time positioning implementation function, and is used for respectively acquiring the body inclination angle, the front wheel steering angle and the wheel running turns of the vehicle through the inclination monitoring sensor, the steering angle sensor and the turn number sensor, and transmitting the acquired body inclination angle, the front wheel steering angle and the wheel running turns to the model analysis end;
the GPS signal detection end is used for acquiring a GPS signal value in real time, continuously comparing the GPS signal value acquired in real time with a preset signal threshold value, transmitting the GPS signal value to the offline positioning end, and then determining the function implementation of the offline positioning end;
the model analysis end is used for integrating the vehicle body inclination angle, the front wheel steering angle and the offline travel distance in the same time period to generate offline position information when the offline positioning analysis function is implemented, and then preprocessing the offline position information to obtain a compensation coefficient; and the method is also used for combining the offline position information with the compensation coefficient to generate path model information when the offline real-time positioning function is implemented, so as to further determine the current positioning position of the vehicle.
2. A GPS-based high precision real time positioning system as defined in claim 1, wherein: the vehicle body inclination angle is obtained by monitoring the inclination angle of a chassis by taking the chassis of the vehicle parallel to a horizontal line as a reference, the front wheel steering angle is obtained by monitoring the rotation angle of a steering wheel by taking the forward running angle of the vehicle as a reference, and the running circle number of the wheels is the average value of the two groups of front wheel rotation circle numbers of the vehicle.
3. A GPS-based high precision real time positioning system as defined in claim 1, wherein: the function implementation mode for determining the offline positioning end is as follows:
when the GPS signal value is larger than or equal to a preset information threshold value, and the GPS signal state is strong, enabling a GPS positioning end to implement a GPS real-time positioning function, and enabling an offline positioning analysis function of an offline positioning end; otherwise, if the GPS signal state is weak, the off-line positioning end is started to implement the off-line real-time positioning function.
4. A GPS-based high precision real time positioning system as defined in claim 1, wherein: the integration mode of the offline position information is as follows:
acquiring a vehicle body inclination angle, a front wheel steering angle, an offline travel distance and a travel route planned by a path planning acquisition end in the same period;
and calculating the horizontal distance of the vehicle running on the running route through the off-line running distance and the vehicle body inclination angle by using the collude law, judging the position of the vehicle on the running route according to the front wheel steering angle and the horizontal distance, and taking the position as off-line position information.
5. A GPS-based high precision real time positioning system as defined in claim 1, wherein: the specific pretreatment mode of the model analysis end is as follows:
s1, when an offline positioning analysis function is implemented, a GPS positioning end is in an enabled state, and a driving route is divided into m processing sections;
s2, acquiring real-time position information and offline position information of each processing section, calculating the distance difference between the real-time position information and the offline position information, and marking the distance difference as LY1, LY2, and LYm in sequence;
s3, then according to the formulaCalculating a deviation value LP of the set of data and taking the deviation value LP as a compensation coefficient γ, wherein LYp is an average value of LY1, LY2, LYm;
s4, continuously obtaining the calculated sum of the positioning distances of the GPS real-time position information of each processing segment, calculating the sum of the positioning distances of the offline position information of each processing segment, and comparing the GPS real-time position information with the sum of the positioning distances of the offline position information;
if the sum of the positioning distances of the GPS real-time position information is larger than that of the offline real-time position information, judging that the compensation coefficient gamma is a positive value;
if the sum of the positioning distances of the GPS real-time position information is smaller than the sum of the positioning distances of the offline real-time position information, the compensation coefficient gamma is judged to be a negative value.
6. The GPS-based high precision real time positioning system according to claim 5, wherein: the model analysis end is used for acquiring path model information of other vehicles, then collecting and splicing the path model information, carrying out disorder elimination and arrangement on the path model information by combining a wheel steering sensing module and a turn number sensor, collecting the path model information into a target map of an underground parking lot, and carrying out data overlapping processing according to a similarity principle mainly through offline position information acquired by the offline positioning end.
7. The GPS-based high precision real time positioning system according to claim 6, wherein: the specific mode of disorder removal is as follows:
a1, acquiring the number of steering behaviors in a certain time through a steering angle sensor, acquiring the frequency of forward and reverse rotation in a certain time through a turn number sensor, judging whether an automobile is in a parking state or a driving state, and further determining a driving route and a parking space in a target map, wherein the number of steering behaviors is recorded as one when the steering angle returns to a reference position by taking the angle of forward driving of the automobile as the reference; the judging mode of the automobile parking/driving state is as follows: firstly, marking one positive rotation and one negative rotation recorded by a turn number sensor as one alternating rotation, then obtaining the times of the alternating rotation in a certain time, judging that the automobile is in a parking state when the alternating rotation times are larger than the preset times, and otherwise, judging that the automobile is in a driving state;
a2, disassembling the running routes in the collected and spliced multiple path model information into multiple running analysis lines according to the rotation angle amplitude of the automobile;
a3, marking the same running analysis line in the path model information through distance parameters, wherein the marking result is as follows: JL1, JL2, & JLn;
the automobile corner amplitude is obtained through the front wheel steering angle of the wheels obtained by the steering angle sensor, the automobile corner amplitude value is compared with a preset amplitude value, and when the automobile corner amplitude value is larger than the preset amplitude value, the position of the section can be used as a plurality of driving analysis line dismantling nodes;
a4, according to the formulaCalculating a discrete value JP for the set of data, comparing LP with a preset discrete value JP1, wherein JLp is the average of JL1, JL2, JLm;
if JP < JP1, reserving a plurality of running analysis lines;
if JP is more than or equal to JP1, deleting the corresponding JLi values in sequence from the large value to the small value according to the sequence of (JLi-JLp), until JP is less than JP1, and reserving a plurality of undeleted driving analysis lines;
and so on, a plurality of running analysis lines reserved in the plurality of path model information are obtained;
a5, marking the positions of the parking spaces according to a plane coordinate system, and then disassembling the position marks to obtain a plurality of parking space analysis points;
a6, the principle is the same as that of the steps A3 and A4, and a plurality of reserved parking space analysis points are further obtained;
and A7, collecting and splicing the running analysis line obtained in the step A4 and the parking space analysis point obtained in the step A6 to form a target map of the underground parking garage.
8. A GPS-based high precision real time positioning system as defined in claim 1, wherein: the inclination monitoring sensor also has a double-layer road positioning function, and the double-layer road positioning function is specifically combined with the path planning acquisition end and is used for judging the double-layer road positioning of the running position of the vehicle; the double-layer road is a road overlapped with the urban viaduct and the ground road, and the specific positioning judgment mode is as follows:
b1, acquiring the entrance and exit positions of the urban viaduct in the driving route according to the route planning acquisition end, and starting a double-layer road positioning function when the current position of the vehicle reaches the entrance and exit positions of the urban viaduct;
b2, acquiring the uphill and downhill mileage of the entrance and the exit of the urban viaduct, dividing a section of uphill and downhill mileage into f monitoring points in an equal division manner, acquiring the inclination angle of the vehicle body of each monitoring point, and marking the vehicle body inclination angle as Q in sequence 1 、Q 2 、...、Q f ；
B3 according to the formula qp= [ (Q) 2 -Q 1 )+(Q 3 -Q 1 )+、...、+(Q f -Q 1 )](f-1) calculating to obtain an average value Qp of the inclination angles of the group of data, and then comparing the Qp with a preset inclination angle Qy;
if Qp is more than or equal to Qy, judging that the current position of the vehicle is positioned above the viaduct of the double-layer road; otherwise, judging that the current position of the vehicle is positioned below the viaduct in the double-layer road;
when the head of the automobile is lower than the tail of the automobile, the inclination angle is recorded as a negative value, and the automobile is in a downhill state;
otherwise, the inclination angle is recorded as a positive value, and the automobile is in an ascending state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310447639.3A CN116466382A (en) | 2023-04-24 | 2023-04-24 | GPS-based high-precision real-time positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310447639.3A CN116466382A (en) | 2023-04-24 | 2023-04-24 | GPS-based high-precision real-time positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116466382A true CN116466382A (en) | 2023-07-21 |
Family
ID=87173206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310447639.3A Pending CN116466382A (en) | 2023-04-24 | 2023-04-24 | GPS-based high-precision real-time positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116466382A (en) |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535063A (en) * | 2014-11-27 | 2015-04-22 | 哈尔滨工程大学 | Geographic coordinate compensation method for seabed oil-gas pipeline detection positioning system |
| US20160097861A1 (en) * | 2014-10-01 | 2016-04-07 | Illinois Institute Of Technology | Method and apparatus for location determination |
| CN107796394A (en) * | 2016-09-05 | 2018-03-13 | 华为终端（东莞）有限公司 | A kind of vehicle indoor positioning method, apparatus, system and wearable smart machine |
| CN108153867A (en) * | 2017-12-25 | 2018-06-12 | 山东大学 | User trajectory Forecasting Methodology and device based on temporal regularity |
| CN108519085A (en) * | 2018-03-27 | 2018-09-11 | 京东方科技集团股份有限公司 | Guidance path acquisition methods, device, system and its storage medium |
| CN109444929A (en) * | 2018-09-11 | 2019-03-08 | 上海欣佳信息科技有限公司 | Vehicle positioning system based on vehicle CAN bus and satellite positioning |
| CN109812109A (en) * | 2019-03-06 | 2019-05-28 | 上海电机学院 | A kind of multifunctional intellectual parking stall lock and its application method |
| CN109982256A (en) * | 2019-01-17 | 2019-07-05 | 深圳壹账通智能科技有限公司 | Vehicle lookup method, device, equipment and storage medium |
| WO2019194079A1 (en) * | 2018-04-02 | 2019-10-10 | 日本電産株式会社 | Position estimation system, moving body comprising said position estimation system, and computer program |
| WO2020233726A1 (en) * | 2019-06-24 | 2020-11-26 | 浙江大学 | Environment active sensing-type automatic parking system for parking lot |
| JP2020190417A (en) * | 2019-05-17 | 2020-11-26 | アイシン・エィ・ダブリュ株式会社 | Vehicle position estimation system, vehicle position estimation method, and vehicle position estimation program |
| WO2021017212A1 (en) * | 2019-07-26 | 2021-02-04 | 魔门塔(苏州)科技有限公司 | Multi-scene high-precision vehicle positioning method and apparatus, and vehicle-mounted terminal |
| CN112857368A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN113156934A (en) * | 2019-12-31 | 2021-07-23 | 上海司南卫星导航技术股份有限公司 | Automatic driving system and method of vehicle and non-transitory computer readable storage medium |
| CN113701765A (en) * | 2021-07-22 | 2021-11-26 | 深圳市傲沃通信技术有限公司 | Offline vehicle searching method, device, equipment and storage medium |
| CN114383620A (en) * | 2021-11-30 | 2022-04-22 | 江铃汽车股份有限公司 | Vehicle accurate position obtaining method and system, readable storage medium and vehicle |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
| CN114613182A (en) * | 2022-03-30 | 2022-06-10 | 西安医学院 | Internet of things-based network-based unmanned vehicle system and method |
| US20220244402A1 (en) * | 2021-02-04 | 2022-08-04 | Qualcomm Incorporated | Methods and apparatus for improving carrier phase detection in satellite positioning system signals |
| CN115265557A (en) * | 2021-10-14 | 2022-11-01 | 北京航空航天大学 | Map matching positioning and deviation line judgment method |
| CN115597593A (en) * | 2022-09-22 | 2023-01-13 | 长沙谱蓝网络科技有限公司（Cn） | Real-time navigation method and device based on high-precision map |
-
2023
- 2023-04-24 CN CN202310447639.3A patent/CN116466382A/en active Pending
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160097861A1 (en) * | 2014-10-01 | 2016-04-07 | Illinois Institute Of Technology | Method and apparatus for location determination |
| CN104535063A (en) * | 2014-11-27 | 2015-04-22 | 哈尔滨工程大学 | Geographic coordinate compensation method for seabed oil-gas pipeline detection positioning system |
| CN107796394A (en) * | 2016-09-05 | 2018-03-13 | 华为终端（东莞）有限公司 | A kind of vehicle indoor positioning method, apparatus, system and wearable smart machine |
| CN108153867A (en) * | 2017-12-25 | 2018-06-12 | 山东大学 | User trajectory Forecasting Methodology and device based on temporal regularity |
| CN108519085A (en) * | 2018-03-27 | 2018-09-11 | 京东方科技集团股份有限公司 | Guidance path acquisition methods, device, system and its storage medium |
| WO2019194079A1 (en) * | 2018-04-02 | 2019-10-10 | 日本電産株式会社 | Position estimation system, moving body comprising said position estimation system, and computer program |
| CN109444929A (en) * | 2018-09-11 | 2019-03-08 | 上海欣佳信息科技有限公司 | Vehicle positioning system based on vehicle CAN bus and satellite positioning |
| CN109982256A (en) * | 2019-01-17 | 2019-07-05 | 深圳壹账通智能科技有限公司 | Vehicle lookup method, device, equipment and storage medium |
| CN109812109A (en) * | 2019-03-06 | 2019-05-28 | 上海电机学院 | A kind of multifunctional intellectual parking stall lock and its application method |
| JP2020190417A (en) * | 2019-05-17 | 2020-11-26 | アイシン・エィ・ダブリュ株式会社 | Vehicle position estimation system, vehicle position estimation method, and vehicle position estimation program |
| WO2020233726A1 (en) * | 2019-06-24 | 2020-11-26 | 浙江大学 | Environment active sensing-type automatic parking system for parking lot |
| WO2021017212A1 (en) * | 2019-07-26 | 2021-02-04 | 魔门塔(苏州)科技有限公司 | Multi-scene high-precision vehicle positioning method and apparatus, and vehicle-mounted terminal |
| CN112857368A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Mower navigation method and device and mower |
| CN113156934A (en) * | 2019-12-31 | 2021-07-23 | 上海司南卫星导航技术股份有限公司 | Automatic driving system and method of vehicle and non-transitory computer readable storage medium |
| WO2022095814A1 (en) * | 2020-11-05 | 2022-05-12 | 长沙智能驾驶研究院有限公司 | Automatic vehicle reversing control method and apparatus, vehicle and storage medium |
| US20220244402A1 (en) * | 2021-02-04 | 2022-08-04 | Qualcomm Incorporated | Methods and apparatus for improving carrier phase detection in satellite positioning system signals |
| CN113701765A (en) * | 2021-07-22 | 2021-11-26 | 深圳市傲沃通信技术有限公司 | Offline vehicle searching method, device, equipment and storage medium |
| CN115265557A (en) * | 2021-10-14 | 2022-11-01 | 北京航空航天大学 | Map matching positioning and deviation line judgment method |
| CN114383620A (en) * | 2021-11-30 | 2022-04-22 | 江铃汽车股份有限公司 | Vehicle accurate position obtaining method and system, readable storage medium and vehicle |
| CN114613182A (en) * | 2022-03-30 | 2022-06-10 | 西安医学院 | Internet of things-based network-based unmanned vehicle system and method |
| CN115597593A (en) * | 2022-09-22 | 2023-01-13 | 长沙谱蓝网络科技有限公司（Cn） | Real-time navigation method and device based on high-precision map |
Non-Patent Citations (4)
| Title |
|---|
| 刘恒: "楼宇内导航***的设计与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》, pages 136 - 869 * |
| 吕霞;郭宋静;陶留锋;: "移动GIS辅助定位***终端设计及处理方法", 测绘科学, no. 05 * |
| 曹盘勋;潘喜武;: "浅析电务轨旁设备巡检***的里程定位校正方法", 哈尔滨铁道科技, no. 02 * |
| 杨宇华: "基于蓝牙定位的室内停车场车位推荐与导航***", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》, pages 034 - 892 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109241069B (en) | Road network rapid updating method and system based on track adaptive clustering | |
| JP6401140B2 (en) | Joint probability modeling and estimation of the structure of intersections | |
| US5043902A (en) | Vehicular navigation apparatus | |
| JP4568782B2 (en) | Location registration device, navigation device, route search device, location registration method, location registration program, and recording medium | |
| Schroedl et al. | Mining GPS traces for map refinement | |
| US9256995B2 (en) | Apparatus for diagnosing driving behavior, method for diagnosing driving behavior, and program thereof | |
| CN102208035B (en) | Image processing system and position measuring system | |
| CN100580735C (en) | Real-time dynamic traffic information processing method based on car detecting technique | |
| JP4435846B2 (en) | Location registration apparatus, location registration method, location registration program, and recording medium | |
| JP2020024715A (en) | Traffic signal response for autonomous vehicles | |
| CN101750086B (en) | Navigation information correcting method and navigation device thereof | |
| CN109405841A (en) | Method and apparatus for participating in map abnormality detection and correction | |
| CN105892464A (en) | Special car automatic driving system based on fixed routes and driving method for same | |
| CN106225789A (en) | A kind of onboard navigation system with high security and bootstrap technique thereof | |
| JPWO2007105518A1 (en) | Location registration device, route search device, location registration method, location registration program, and recording medium | |
| CN105955257A (en) | Bus automatic driving system based on fixed route and driving method thereof | |
| CN103308054A (en) | Method for measuring and calculating navigation path travel time | |
| CN107664993A (en) | A kind of paths planning method | |
| WO2022052283A1 (en) | Vehicle positioning method and device | |
| CN115265557B (en) | Map matching positioning and deviation line judging method | |
| CN1837753A (en) | Map-matched automobile navigation method based on multiple information sources | |
| CN114889606A (en) | Low-cost high-precision positioning method based on multi-sensor fusion | |
| CN112633812B (en) | Track segmentation method, device, equipment and storage medium for freight vehicle | |
| CN113516871A (en) | Navigation method for underground parking lot of vehicle-mounted machine | |
| CN113532435A (en) | Car machine underground parking lot AR navigation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |