CN116609808A - Vehicle-mounted system based on Beidou navigation - Google Patents

Vehicle-mounted system based on Beidou navigation Download PDF

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Publication number
CN116609808A
CN116609808A CN202310541201.1A CN202310541201A CN116609808A CN 116609808 A CN116609808 A CN 116609808A CN 202310541201 A CN202310541201 A CN 202310541201A CN 116609808 A CN116609808 A CN 116609808A
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China
Prior art keywords
module
vehicle
signal
navigation
detection
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Pending
Application number
CN202310541201.1A
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Chinese (zh)
Inventor
董广明
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Shenzhen Jurui Cloud Control Technology Co ltd
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Shenzhen Jurui Cloud Control Technology Co ltd
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Priority to CN202310541201.1A priority Critical patent/CN116609808A/en
Publication of CN116609808A publication Critical patent/CN116609808A/en
Pending legal-status Critical Current

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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/32—Detection related to theft or to other events relevant to anti-theft systems of vehicle dynamic parameters, e.g. speed or acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/33—Detection related to theft or to other events relevant to anti-theft systems of global position, e.g. by providing GPS coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)

Abstract

The invention relates to a vehicle-mounted system based on Beidou navigation, which belongs to the technical field of vehicle-mounted systems and comprises a navigation system body, wherein the navigation system body comprises a GPS dual-mode navigation module, a central processing unit, a vehicle-mounted module, a Beidou navigation module, a wireless communication module, a sensor, an audible and visual alarm, a mobile terminal, a vehicle fault detection module, a tire pressure detection module and an infrared night vision device module; through the higher algorithm module of precision, when there is not satellite signal, according to the trend of car, in time catch the route, carry out the depiction of map on current big dipper navigation reception's map, guarantee the accuracy of driving, adopted high dynamic big dipper receiver and advanced ARM treater to improve the stability of signal simultaneously, guaranteed driving safety.

Description

Vehicle-mounted system based on Beidou navigation
Technical Field
The invention relates to the technical field of vehicle-mounted systems, in particular to a vehicle-mounted system based on Beidou navigation.
Background
In the arrival of the internet of vehicles era, more and more people are using car navigation devices. A car navigator is a device for positioning, navigation and entertainment on a car. Along with the popularization of automobiles and the construction of roads, the economic traffic between cities is more frequent, the vehicle-mounted navigator is important, and the navigation integrating the functions of accurate positioning, navigation and entertainment can meet the requirements of automobile owners, thereby becoming basic equipment on the automobile. Because the vehicle-mounted navigator has a acquainted influence on the life of the vehicle owners, the vehicle owners also put forward new hopes and demands on the vehicle-mounted navigator.
The prior art has the following defects:
the function of the alarm in the prior art is single, and the alarm can only give out alarm sound to draw attention of surrounding people when triggered, so that if a vehicle is parked in a place where people are rare, the burglar alarm can lose effect. Meanwhile, the vehicle cannot be positioned in real time after being stolen, so that the vehicle is difficult to retrieve after being stolen. Meanwhile, when a thief is stolen, a special means is adopted to enable a sensor on the automobile not to be triggered, and the vehicle owner can not apply the sensor after finding that the automobile is stolen.
The existing Beidou navigation has certain route drift, brings adverse factors to the whole navigation system, and meanwhile, as navigation received data are influenced by a network, data cannot be received in places such as a ground vehicle garage or a mountain cave, and the running of a vehicle can be influenced.
In the prior art, the vehicle navigation is a GPS, the functions of the GPS are single, the GPS has certain limitation, the vehicle-road interconnection communication links are weak, deviation can occur during positioning, and usually, a plurality of vehicle navigation systems are not connected with the monitoring of the vehicle speed and the measurement of the distance, so that unexpected situations often occur in the form process.
Disclosure of Invention
The invention aims to provide a vehicle-mounted system based on Beidou navigation, which aims to solve the problems that in the prior art, the function of an alarm is single, only an alarm sound can be sent out to draw attention of surrounding masses when the alarm is triggered, and if a vehicle is parked in a place where people smoke is rare, the anti-theft alarm is disabled. Meanwhile, the vehicle cannot be positioned in real time after being stolen, so that the vehicle is difficult to retrieve after being stolen. Meanwhile, when a thief steals, a special means is adopted to enable a sensor on the automobile not to be triggered, and the automobile owner can not apply the sensor after finding that the automobile is stolen; the existing Beidou navigation has certain route drift, brings adverse factors to the whole navigation system, and meanwhile, as navigation received data is influenced by a network, data cannot be received in places such as a ground vehicle garage or a mountain hole, and the running of an automobile can be influenced; in the prior art, the vehicle navigation is a GPS, the functions of the GPS are single, the GPS has certain limitation, the vehicle-road interconnection communication links are weak, deviation can occur during positioning, and usually, a plurality of vehicle navigation systems are not connected with the monitoring of the vehicle speed and the measurement of the distance, so that the problem of accidents often occurs in the form process is caused.
The technical scheme of the invention is as follows: the intelligent navigation system comprises a navigation system body, wherein the navigation system body comprises a GPS dual-mode navigation module, a central processing unit, a vehicle-mounted module, a Beidou navigation module, a wireless communication module, a sensor, an audible-visual annunciator, a mobile terminal, a vehicle fault detection module, a tire pressure detection module, an infrared night vision device module, a 360-degree panoramic driving recording module and a fall detection module, the Beidou navigation module is connected with a Beidou navigation receiving module, the Beidou navigation module is connected with an operation control module through the Beidou navigation receiving module, the operation control module is connected with a route display module and a voice broadcasting module, and the mobile terminal is electrically connected with the wireless communication module;
the central processing unit is used for receiving and analyzing the information acquired by the GPS dual-mode navigation module, the Beidou navigation module, the sensor, the vehicle fault detection module, the tire pressure detection module, the infrared night vision device module, the 360-degree panoramic driving recording module and the fall detection module, converting the acquired information into a control signal and transmitting the control signal to the wireless communication module and the audible and visual alarm;
the central processing unit is connected with the Beidou navigation module and the GPS dual-mode navigation module, and the central processing unit is connected with the vehicle-mounted module;
the audible and visual alarm is used for receiving the control signal of the central processing unit and sending out alarm sound.
Further, the sensor comprises a distance sensor and a vehicle speed sensor, wherein the two distance sensors are respectively used for measuring the front distance and the rear distance of the vehicle.
Furthermore, the operation control module is an ARM9 processor, and the operation control module is also connected with a switching device, a storage device and an arithmetic device.
Further, the central processing unit is further connected with the external device I/O interface module, the central processing unit is further connected with the video camera system, the Bluetooth module and the voice recognition module, external voice in the voice recognition module is input through the microphone, the central processing unit further comprises a signal processing module, voice signals are sent to the signal processing module and then are sent to the Bluetooth module and the voice recognition module, and finally, the voice signals are processed and judged by the central processing unit and then are correspondingly processed according to the working state.
Further, the drop detection module is configured to detect an altitude drop in a running process of the vehicle, compare the altitude drop with a predetermined drop, and if the altitude drop is greater than the predetermined drop in a predetermined time, output a detection signal, receive the detection signal through the wireless communication module, and send a distress signal to a contact person predetermined by the mobile terminal.
Further, the drop detection module comprises a height detection unit, an acceleration detection unit, a trigger unit and a path extraction unit;
the altitude detection unit is used for detecting the altitude difference in the unit time of the vehicle, and outputting an altitude signal if the altitude difference is larger than a preset altitude difference;
the acceleration detection unit is used for detecting the gravity acceleration of the vehicle in unit time, and outputting an acceleration signal if the gravity acceleration is larger than a preset acceleration;
the triggering unit is used for receiving the height signal and the acceleration signal, and outputting a first detection signal if the height signal and the acceleration signal are received at the same time;
when the wireless communication module receives the first detection signal, the wireless communication module sends a distress signal to a preset contact person;
the path extraction unit is used for extracting a driving path of the vehicle, comparing the driving path with a preset path, and outputting a second detection signal if the driving path is different from the preset path;
when the wireless communication module receives the first detection signal and the second detection signal simultaneously, the wireless communication module sends a distress signal to a preset contact person.
Further, the central processing unit further comprises a storage unit for storing all data of the navigation system body.
Compared with the prior art, the vehicle-mounted system based on Beidou navigation provided by the invention has the following improvement and advantages:
the invention can play a role in real-time security on the vehicle, thereby ensuring the safety of the vehicle during use, and can track the vehicle in real time through the mobile terminal after the vehicle is stolen, thereby greatly improving the back-up rate of the stolen vehicle; through the calculation module with higher precision, when no satellite signal exists, the route is captured in time according to the trend of the vehicle, the map is depicted on the existing map received by Beidou navigation, the accuracy of driving is ensured, and meanwhile, the stability of the signal is improved by adopting the high-dynamic Beidou receiver and the advanced ARM processor, and the driving safety is ensured; the vehicle speed monitoring sensor is arranged, so that the vehicle speed can be monitored in real time, an alarm can be given if an accident occurs, and the distance sensors are arranged in front of and behind the vehicle, so that the safety distance between the vehicles can be kept, and the running process can be safer; according to the invention, the Beidou and GPS dual-mode navigation mode is adopted, beidou and GPS navigation satellite signals can be received in real time, the services of real-time high-precision three-dimensional positioning, three-dimensional speed measurement, accurate time service and the like of a motor vehicle carrier are realized, meanwhile, the vehicle-mounted navigation system is also provided with a vehicle fault detection module, a tire pressure monitoring module, a 360-degree panoramic driving recording module and the like, the vehicle-mounted navigation system is multipurpose, the operation is convenient, the driving safety coefficient of the motor vehicle is greatly improved, when an accident occurs, for example, the vehicle falls into a mountain ditch on the roadside, the altitude of the vehicle is high at the moment, the altitude of the vehicle is larger than the preset fall, the fall detection module outputs detection signals to the 5G communication module, and the 5G communication module sends distress signals to preset contacts after receiving the detection signals, so that the rescue can be performed in time.
Drawings
The invention is further explained below with reference to the drawings and examples:
FIG. 1 is a schematic diagram of a vehicle-mounted system based on Beidou navigation;
Detailed Description
The following detailed description of the present invention, taken in conjunction with the accompanying drawings, will clearly and fully describe the technical solutions of the embodiments of the present invention, it being evident that the described embodiments are only some, but not all, embodiments of the present invention. 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.
The invention provides a vehicle-mounted system based on Beidou navigation through improvement, which comprises a navigation system body, as shown in the figure, wherein the navigation system body comprises a GPS dual-mode navigation module, a central processing unit, a vehicle-mounted module, a Beidou navigation module, a wireless communication module, a sensor, an audible and visual alarm, a mobile terminal, a vehicle fault detection module, a tire pressure detection module, an infrared night vision device module, a 360-degree panoramic driving recording module and a fall detection module, the Beidou navigation module is connected with a Beidou navigation receiving module, the Beidou navigation module is connected with an operation control module through the Beidou navigation receiving module, the operation control module is connected with a route display module and a voice broadcasting module, and the mobile terminal is electrically connected with the wireless communication module;
the central processing unit is used for receiving and analyzing information acquired by the GPS dual-mode navigation module, the Beidou navigation module, the sensor, the vehicle fault detection module, the tire pressure detection module, the infrared night vision device module, the 360-degree panoramic driving recording module and the fall detection module, converting the acquired information into a control signal and transmitting the control signal to the wireless communication module and the audible and visual alarm;
the central processing unit is connected with the Beidou navigation module and the GPS dual-mode navigation module, and the central processing unit is connected with the vehicle-mounted module;
the audible and visual alarm is used for receiving the control signal of the central processing unit and sending out alarm sound.
The sensor comprises a distance sensor and a vehicle speed sensor, wherein the two distance sensors are respectively used for measuring the front distance and the rear distance of the vehicle.
The operation control module is an ARM9 processor and is also connected with a switching device, a storage device and an arithmetic device.
The central processing unit is also connected with the I/O interface module of the external equipment, the central processing unit is also connected with the video-audio camera system, the Bluetooth module and the voice recognition module, external voice in the voice recognition module is input through the microphone, the central processing unit also comprises a signal processing module, voice signals are sent to the Bluetooth module and the voice recognition module after being sent to the signal processing module, and finally, the voice signals are processed and judged by the central processing unit and then are correspondingly processed according to the working state.
The drop detection module is used for detecting the altitude drop in the running process of the vehicle, comparing the altitude drop with a preset drop, outputting a detection signal if the altitude drop is larger than the preset drop in preset time, receiving the detection signal through the wireless communication module, and sending a distress signal to a preset contact of the mobile terminal.
The drop detection module comprises a height detection unit, an acceleration detection unit, a trigger unit and a path extraction unit;
the altitude detection unit is used for detecting the altitude difference in the unit time of the vehicle, and outputting an altitude signal if the altitude difference is larger than a preset altitude difference;
the acceleration detection unit is used for detecting the gravity acceleration of the vehicle in unit time, and outputting an acceleration signal if the gravity acceleration is larger than a preset acceleration;
the triggering unit is used for receiving the height signal and the acceleration signal, and outputting a first detection signal if the height signal and the acceleration signal are received at the same time;
when the wireless communication module receives the first detection signal, the wireless communication module sends a distress signal to a preset contact person;
the path extraction unit is used for extracting a driving path of the vehicle, comparing the driving path with a preset path, and outputting a second detection signal if the driving path is different from the preset path;
when the wireless communication module receives the first detection signal and the second detection signal simultaneously, the wireless communication module sends a distress signal to a preset contact person.
The central processing unit also comprises a storage unit for storing all data of the navigation system body.
The invention can play a role in real-time security on the vehicle, thereby ensuring the safety of the vehicle during use, and can track the vehicle in real time through the mobile terminal after the vehicle is stolen, thereby greatly improving the back-up rate of the stolen vehicle; through the calculation module with higher precision, when no satellite signal exists, the route is captured in time according to the trend of the vehicle, the map is depicted on the existing map received by Beidou navigation, the accuracy of driving is ensured, and meanwhile, the stability of the signal is improved by adopting the high-dynamic Beidou receiver and the advanced ARM processor, and the driving safety is ensured; the vehicle speed monitoring sensor is arranged, so that the vehicle speed can be monitored in real time, an alarm can be given if an accident occurs, and the distance sensors are arranged in front of and behind the vehicle, so that the safety distance between the vehicles can be kept, and the running process can be safer; according to the invention, the Beidou and GPS dual-mode navigation mode is adopted, beidou and GPS navigation satellite signals can be received in real time, the services of real-time high-precision three-dimensional positioning, three-dimensional speed measurement, accurate time service and the like of a motor vehicle carrier are realized, meanwhile, the vehicle-mounted navigation system is also provided with a vehicle fault detection module, a tire pressure monitoring module, a 360-degree panoramic driving recording module and the like, the vehicle-mounted navigation system is multipurpose, the operation is convenient, the driving safety coefficient of the motor vehicle is greatly improved, when an accident occurs, for example, the vehicle falls into a mountain ditch on the roadside, the altitude of the vehicle is high at the moment, the altitude of the vehicle is larger than the preset fall, the fall detection module outputs detection signals to the 5G communication module, and the 5G communication module sends distress signals to preset contacts after receiving the detection signals, so that the rescue can be performed in time.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. Vehicle-mounted system based on Beidou navigation, and is characterized in that: the intelligent navigation system comprises a navigation system body, wherein the navigation system body comprises a GPS dual-mode navigation module, a central processing unit, a vehicle-mounted module, a Beidou navigation module, a wireless communication module, a sensor, an audible-visual annunciator, a mobile terminal, a vehicle fault detection module, a tire pressure detection module, an infrared night vision device module, a 360-degree panoramic driving recording module and a fall detection module, the Beidou navigation module is connected with a Beidou navigation receiving module, the Beidou navigation module is connected with an operation control module through the Beidou navigation receiving module, the operation control module is connected with a route display module and a voice broadcasting module, and the mobile terminal is electrically connected with the wireless communication module;
the central processing unit is used for receiving and analyzing the information acquired by the GPS dual-mode navigation module, the Beidou navigation module, the sensor, the vehicle fault detection module, the tire pressure detection module, the infrared night vision device module, the 360-degree panoramic driving recording module and the fall detection module, converting the acquired information into a control signal and transmitting the control signal to the wireless communication module and the audible and visual alarm;
the central processing unit is connected with the Beidou navigation module and the GPS dual-mode navigation module, and the central processing unit is connected with the vehicle-mounted module;
the audible and visual alarm is used for receiving the control signal of the central processing unit and sending out alarm sound.
2. The vehicle-mounted system based on Beidou navigation according to claim 1, wherein: the sensor comprises a distance sensor and a vehicle speed sensor, wherein the two distance sensors are respectively used for measuring the front distance and the rear distance of the vehicle.
3. The vehicle-mounted system based on Beidou navigation according to claim 1, wherein: the operation control module is an ARM9 processor and is also connected with a switching device, a storage device and an arithmetic device.
4. The vehicle-mounted system based on Beidou navigation according to claim 1, wherein: the central processing unit is also connected with the external equipment I/O interface module, the central processing unit is also connected with the video-audio camera system, the Bluetooth module and the voice recognition module, external voice in the voice recognition module is input through the microphone, the central processing unit also comprises a signal processing module, the voice signal is sent to the signal processing module and then is sent to the Bluetooth module and the voice recognition module, and finally, the voice signal is processed and judged by the central processing unit and then is correspondingly processed according to the working state.
5. The vehicle-mounted system based on Beidou navigation according to claim 1, wherein: the drop detection module is used for detecting the altitude drop in the running process of the vehicle, comparing the altitude drop with a preset drop, outputting a detection signal if the altitude drop is larger than the preset drop in preset time, receiving the detection signal through the wireless communication module, and sending a distress signal to a preset contact person of the mobile terminal.
6. The Beidou navigation based vehicle-mounted system of claim 5, wherein: the drop detection module comprises a height detection unit, an acceleration detection unit, a trigger unit and a path extraction unit;
the altitude detection unit is used for detecting the altitude difference in the unit time of the vehicle, and outputting an altitude signal if the altitude difference is larger than a preset altitude difference;
the acceleration detection unit is used for detecting the gravity acceleration of the vehicle in unit time, and outputting an acceleration signal if the gravity acceleration is larger than a preset acceleration;
the triggering unit is used for receiving the height signal and the acceleration signal, and outputting a first detection signal if the height signal and the acceleration signal are received at the same time;
when the wireless communication module receives the first detection signal, the wireless communication module sends a distress signal to a preset contact person;
the path extraction unit is used for extracting a driving path of the vehicle, comparing the driving path with a preset path, and outputting a second detection signal if the driving path is different from the preset path;
when the wireless communication module receives the first detection signal and the second detection signal simultaneously, the wireless communication module sends a distress signal to a preset contact person.
7. The vehicle-mounted system based on Beidou navigation according to claim 1, wherein: the central processing unit also comprises a storage unit for storing all data of the navigation system body.
CN202310541201.1A 2023-05-15 2023-05-15 Vehicle-mounted system based on Beidou navigation Pending CN116609808A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310541201.1A CN116609808A (en) 2023-05-15 2023-05-15 Vehicle-mounted system based on Beidou navigation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310541201.1A CN116609808A (en) 2023-05-15 2023-05-15 Vehicle-mounted system based on Beidou navigation

Publications (1)

Publication Number Publication Date
CN116609808A true CN116609808A (en) 2023-08-18

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Application Number Title Priority Date Filing Date
CN202310541201.1A Pending CN116609808A (en) 2023-05-15 2023-05-15 Vehicle-mounted system based on Beidou navigation

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