CN118501909B - GPS enhanced high-precision positioning method for commercial vehicle - Google Patents
GPS enhanced high-precision positioning method for commercial vehicle Download PDFInfo
- Publication number
- CN118501909B CN118501909B CN202410954906.0A CN202410954906A CN118501909B CN 118501909 B CN118501909 B CN 118501909B CN 202410954906 A CN202410954906 A CN 202410954906A CN 118501909 B CN118501909 B CN 118501909B
- Authority
- CN
- China
- Prior art keywords
- gps
- data
- commercial vehicle
- vehicle
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000005259 measurement Methods 0.000 claims abstract description 70
- 238000005457 optimization Methods 0.000 claims abstract description 49
- 230000001133 acceleration Effects 0.000 claims abstract description 22
- 238000012937 correction Methods 0.000 claims abstract description 21
- 238000005516 engineering process Methods 0.000 claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 19
- 238000012360 testing method Methods 0.000 claims description 70
- 238000004891 communication Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 13
- 238000007781 pre-processing Methods 0.000 claims description 10
- 230000004927 fusion Effects 0.000 claims description 8
- 238000007499 fusion processing Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 5
- 230000000295 complement effect Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000012797 qualification Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 5
- 238000012805 post-processing Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000015556 catabolic process Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
-
- 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)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a GPS enhanced high-precision positioning method for a commercial vehicle, relates to the technical field of GPS positioning of vehicles, and aims to solve the problem of reduced positioning precision when the commercial vehicle performs GPS positioning. The differential GPS technology of the invention eliminates various error factors by utilizing differential calculation between the reference station and the mobile station, thereby obviously improving the positioning accuracy, the GPS receiver can receive and use the correction amounts in real time to optimize positioning data without waiting for post-processing, thereby ensuring timeliness of positioning information, and the advantages of the GPS data optimization result and the inertial measurement data can be fully utilized by fusing the GPS data optimization result and the inertial measurement data to make up for the respective defects, and the angular velocity and the acceleration of the commercial vehicle can be measured in real time and continuously by inertial elements such as a gyroscope, an accelerometer and the like, thereby calculating the change of the velocity and the position.
Description
Technical Field
The invention relates to the technical field of GPS positioning of vehicles, in particular to a GPS enhanced high-precision positioning method of a commercial vehicle.
Background
Vehicle GPS positioning refers to determining a specific location of a vehicle by a Global Positioning System (GPS).
The chinese patent with publication No. CN114355414a discloses a method for correcting GPS positioning position information, a correction device and a vehicle GPS positioning system, mainly by obtaining actual position information of an actual position where a vehicle is located, obtaining GPS positioning position information of the actual position where the vehicle is located, comparing the actual position information with the GPS positioning position information, if a deviation between the actual position information and the GPS positioning position information exceeds a preset value, correcting the GPS positioning position information based on the actual position information, judging accuracy of GPS positioning and correcting GPS positioning when the deviation occurs in GPS positioning, so that the GPS positioning is more accurate, where although the problem of vehicle positioning is solved, the following problems still exist in actual operation:
1. After GPS positioning of the vehicle is acquired, no further data optimization is performed and no better data fusion is performed between positioning data and auxiliary data, so that final GPS positioning data of the vehicle is inaccurate.
2. Positioning judgment is not performed by using more accurate auxiliary information, so that GPS positioning data is inaccurate.
Disclosure of Invention
The invention aims to provide a GPS enhanced high-precision positioning method of a commercial vehicle, which is characterized in that a differential GPS technology utilizes differential calculation between a reference station and a mobile station to eliminate various error factors, so that the positioning precision is remarkably improved, a GPS receiver can receive and use the correction amounts in real time to optimize positioning data without waiting for post-processing, thereby ensuring timeliness of positioning information, the advantages of the GPS data optimization result and inertial measurement data can be fully utilized by fusing the GPS data optimization result and the inertial measurement data, the defects of the GPS data optimization result and the inertial measurement data can be made up, and the angular speed and the acceleration of the commercial vehicle can be measured in real time and continuously through inertial elements such as a gyroscope, an accelerometer and the like, so that the change of the speed and the position can be calculated. The method does not depend on external GPS signals, so that relatively accurate positioning information can be provided in areas where the GPS signals are poor or interrupted, and the problems in the prior art can be solved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a commercial vehicle GPS enhanced high-precision positioning method comprises the following steps:
s1: firstly, confirming basic information of a commercial vehicle, and respectively classifying attributes according to the types of the basic information;
S2: firstly, carrying out inertial measurement on a commercial vehicle, then carrying out preliminary GPS positioning on the commercial vehicle according to basic information of the commercial vehicle, and marking inertial measurement data and preliminary GPS positioning data as target vehicle GPS positioning data;
s3: performing GPS data optimization on the GPS positioning data of the target vehicle through a differential technology, performing fusion processing on a GPS data optimization result and inertial measurement data, and marking the GPS positioning data of the target vehicle after the matching fusion processing as standard GPS positioning data of the vehicle;
s4: and transmitting the standard GPS positioning data of the vehicle to a commercial vehicle display terminal through signals, and receiving a driver control instruction.
Preferably, the step of confirming the basic information of the commercial vehicle in S1 and classifying the attributes according to the types of the basic information includes:
basic information of the commercial vehicle includes vehicle identification information, driver information, GPS device installation information, communication network information, and vehicle load information;
the vehicle identification information is license plate number, vehicle model, vehicle color and operation license; the driver information is the identity and authority of the vehicle owner or the user and the driving qualification; the GPS equipment installation information comprises the model number, the installation position and the equipment number of the GPS equipment; the communication network information is the communication mode of the vehicle and the network state information; the vehicle load information is the load condition and cargo information of the vehicle;
and classifies the vehicle identification information, the driver information, the GPS device installation information, the communication network information, and the vehicle load information, respectively, according to the attributes.
Preferably, inertial measurement of the commercial vehicle in S2 includes:
validating the angular velocity and acceleration of the commercial vehicle from inertial elements on the commercial vehicle;
Wherein the inertial element is a gyroscope and an accelerometer which are installed on a commercial vehicle;
Before the data of angular speed and acceleration are acquired, the inertial element is calibrated, and the calibration of the inertial element is the test and adjustment of static characteristics and dynamic characteristics;
carrying out data preprocessing after angular velocity and acceleration data are acquired, wherein the data preprocessing comprises filtering, denoising and integration;
and after the data preprocessing is completed, acquiring the change of the speed and the position of the commercial vehicle, wherein the change of the speed and the position of the commercial vehicle is inertial measurement data.
Preferably, the adjustment of the dynamic characteristics of the inertial element before the data acquisition of angular velocity and acceleration is performed comprises:
Initializing the inertial element to obtain initialized initial operation parameters; wherein the initial operating parameters include an initial zero offset value and an initial maximum allowable error;
Controlling the inertial element to perform a test run to obtain a test run test result, wherein the test run test result comprises an error value between a measured value and a true value;
Obtaining an error offset factor by utilizing an error value between the measured value and the true value, wherein the error offset factor is obtained by the following formula;
；
wherein E p represents an error offset factor; n represents the number of tests in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; e 01 and e 02 represent a first deviation factor and a second deviation factor; the first deviation factor and the second deviation factor are obtained through the following formula:
；
Wherein n represents the test times in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; x 0 represents an initial zero offset value; e max denotes an initial maximum allowable error;
and adjusting the initial maximum allowable error by using the error offset factor and the initial zero offset value to obtain the adjusted maximum allowable error.
Preferably, the method for adjusting the initial maximum allowable error by using the error offset factor and the initial zero offset value, to obtain an adjusted maximum allowable error includes:
calling the initial zero offset value;
after the inertial element completes the test run test, acquiring a zero offset value after the test run test is completed;
acquiring a zero offset coefficient by using the zero offset value and the initial zero offset value; wherein the zero-point offset coefficient is obtained by the following formula:
；
Wherein s represents a zero-point offset coefficient; x 0c represents a zero offset value; x 0 represents an initial zero offset value; n represents the number of tests in the test run test process;
Invoking the error offset factor;
The maximum allowable error is adjusted by utilizing the zero point offset coefficient and combining an error offset factor, and the adjusted maximum allowable error is obtained; the adjusted maximum allowable error is obtained through the following formula:
；
Wherein E t represents the maximum allowable error after adjustment; e p represents an error offset factor; s represents a zero-point offset coefficient; λ represents a compensation coefficient, and the compensation coefficient is obtained by the following formula:
；
Wherein λ represents a compensation coefficient; e max denotes an initial maximum allowable error; e sm represents the maximum error value that occurs during the test run.
Preferably, the performing the preliminary GPS positioning for the commercial vehicle in S2 includes:
performing preliminary GPS positioning on the commercial vehicle according to a GPS receiver on the commercial vehicle;
The GPS receiver receives signals of GPS satellites with known positions, wherein the signals of the GPS satellites with known positions comprise time stamp signals, the time stamp signals correspond to time in satellite ephemeris, and the satellite ephemeris is retrieved from a database;
the GPS receiver determines the distance between the GPS receiver and each satellite by measuring the propagation time of the signal, and the GPS receiver acquires the distance of not less than three satellites;
Determining the position of the GPS receiver according to the geometric relationship in the three-dimensional space;
The position of the GPS receiver is preliminary GPS positioning data.
Preferably, after the position of the GPS receiver is obtained by performing preliminary GPS positioning on the commercial vehicle, the method further includes obtaining vehicle heading and attitude information of the commercial vehicle in a running state as preliminary GPS positioning data, including:
acquiring motion parameters, motion tracks and motion images of a commercial vehicle in a preset period;
Mapping the motion trail to a preset vertical orbit coordinate to determine a target point out of the orbit boundary range;
Acquiring coordinate values of the target points, and determining the offset direction and the offset of each target point relative to the vertical track according to the coordinate values;
acquiring a motion sequence of the commercial vehicle according to the motion parameters and the motion images, and determining motion state offset of the commercial vehicle in each direction based on the motion sequence and offset directions and offset amounts of each target point relative to the vertical track;
estimating motion state offset of the commercial vehicle in all directions by using a Kalman filtering basic equation to obtain an estimated state vector;
acquiring an initial posture matrix of a preset vertical track;
determining a posture error angle and a lateral offset of the commercial vehicle according to the estimated state vector;
correcting the initial gesture matrix by using the gesture error angle and the transverse offset to obtain a corrected gesture matrix;
According to the corrected attitude matrix, calculating the pitch angle, roll angle and heading angle of the commercial vehicle;
And judging the attitude angle change section of the commercial vehicle according to the pitch angle, the roll angle, the course angle, the angular velocity value and the acceleration value of the commercial vehicle.
And determining the vehicle heading attitude information of the commercial vehicle in the running state according to the attitude angle change section and the heading path parameters of the commercial vehicle.
Preferably, the optimization of the GPS data for the GPS positioning data of the target vehicle in S3 by the differential technique includes:
Positioning and optimizing preliminary GPS positioning data in the GPS positioning data of the target vehicle through a differential GPS technology;
Performing pseudo-range correction calculation on the preliminary GPS positioning data according to satellite signals and self coordinates, wherein a pseudo-range correction calculation formula is called from a database;
And transmitting the calculation result of the pseudo-range correction amount to the GPS receiver through a wireless signal.
Preferably, in S3, the method for optimizing GPS data of the target vehicle by using a differential technique further includes:
The GPS receiver receives satellite signals and simultaneously receives the calculation result of the pseudo-range correction, and the user side corrects the measured preliminary GPS positioning data according to the calculation result of the pseudo-range correction;
the GPS receiver obtains the position of the GPS receiver through triangulation by combining the corrected preliminary GPS positioning data with the position information of a plurality of satellites, wherein the position of the GPS receiver obtained through the triangulation is the GPS data optimization result.
Preferably, for S3, fusing the GPS data optimization result with the inertial measurement data includes:
respectively acquiring GPS data optimization results and inertial measurement data;
Carrying out data fusion on the GPS data optimization result and the inertial measurement data by utilizing a complementary filtering technology;
when the GPS data optimization result and the inertial measurement data are subjected to data fusion, the weight of the GPS data optimization result and the inertial measurement data is dynamically adjusted through a Kalman filtering technology;
And after the dynamic weight adjustment is completed, obtaining data obtained by integrating the GPS data optimization result and the inertial measurement data, and marking the data as standard vehicle GPS positioning data.
Preferably, for S4, the signal transmitting standard vehicle GPS positioning data to the commercial vehicle display terminal and receiving the driver control instruction includes:
transmitting standard vehicle GPS positioning data to a vehicle cloud server through a wireless signal, and receiving a control instruction of the vehicle cloud server;
And the display terminal of the commercial vehicle displays the standard vehicle GPS positioning data of the commercial vehicle, and a driver controls the commercial vehicle through the display terminal and simultaneously receives a control instruction of the vehicle cloud server.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the GPS enhanced high-precision positioning method for the commercial vehicle, provided by the invention, through inertial elements such as a gyroscope, an accelerometer and the like, the angular speed and the acceleration of the commercial vehicle can be measured continuously in real time, and further the change of the speed and the position can be calculated. The method does not depend on external GPS signals, so that relatively accurate positioning information can be provided in areas where the GPS signals are poor or interrupted, GPS satellite signals with known positions can be received in real time through a GPS receiver, the commercial vehicle can acquire the current position information of the commercial vehicle in real time, and the GPS receiver can automatically receive and process the satellite signals without manual intervention.
2. According to the commercial vehicle GPS enhanced high-precision positioning method provided by the invention, the differential GPS technology utilizes differential calculation between the reference station and the mobile station to eliminate various error factors, so that the positioning precision is remarkably improved, the GPS receiver can receive and use the correction amounts in real time to optimize positioning data without waiting for post-processing, thereby ensuring timeliness of positioning information, and the advantages of the GPS data optimization result and the inertial measurement data can be fully utilized by fusing the GPS data optimization result and the inertial measurement data, so that the defects of the GPS data optimization result and the inertial measurement data can be made up.
Drawings
FIG. 1 is a schematic diagram of a commercial vehicle GPS positioning method of the present invention;
Fig. 2 is a schematic diagram of a commercial vehicle GPS positioning process according to 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.
In order to solve the problem that in the prior art, when a commercial vehicle is GPS located, no more accurate auxiliary information is used for location determination, thereby causing inaccurate GPS location data, referring to fig. 1 and 2, the present embodiment provides the following technical scheme:
a commercial vehicle GPS enhanced high-precision positioning method comprises the following steps:
s1: firstly, confirming basic information of a commercial vehicle, and respectively classifying attributes according to the types of the basic information;
The management department or the enterprise can acquire and sort the related information of the vehicles more quickly by confirming and classifying the basic information of the commercial vehicles;
S2: firstly, carrying out inertial measurement on a commercial vehicle, then carrying out preliminary GPS positioning on the commercial vehicle according to basic information of the commercial vehicle, and marking inertial measurement data and preliminary GPS positioning data as target vehicle GPS positioning data;
the method comprises the steps that through inertial elements such as a gyroscope and an accelerometer, the angular speed and the acceleration of a commercial vehicle can be measured continuously in real time, the change of the speed and the position is calculated, a GPS satellite signal of a known position is received through a GPS receiver in real time, and the commercial vehicle can acquire the current position information of the commercial vehicle in real time;
s3: performing GPS data optimization on the GPS positioning data of the target vehicle through a differential technology, performing fusion processing on a GPS data optimization result and inertial measurement data, and marking the GPS positioning data of the target vehicle after the matching fusion processing as standard GPS positioning data of the vehicle;
The GPS data optimization result and the inertial measurement data are fused, so that the advantages of the GPS data optimization result and the inertial measurement data can be fully utilized, and the defects of the GPS data optimization result and the inertial measurement data can be made up;
S4: transmitting standard vehicle GPS positioning data to a commercial vehicle display terminal through signals, and receiving a driver control instruction;
The driver can control operation through the display terminal and receive the control instruction of the vehicle cloud server, so that the operation is more convenient and efficient.
Confirming basic information of the commercial vehicle in S1, and respectively classifying attributes according to the types of the basic information, wherein the method comprises the following steps:
basic information of the commercial vehicle includes vehicle identification information, driver information, GPS device installation information, communication network information, and vehicle load information;
the vehicle identification information is license plate number, vehicle model, vehicle color and operation license; the driver information is the identity and authority of the vehicle owner or the user and the driving qualification; the GPS equipment installation information comprises the model number, the installation position and the equipment number of the GPS equipment; the communication network information is the communication mode of the vehicle and the network state information; the vehicle load information is the load condition and cargo information of the vehicle;
and classifies the vehicle identification information, the driver information, the GPS device installation information, the communication network information, and the vehicle load information, respectively, according to the attributes.
Specifically, by confirming and classifying basic information of the commercial vehicle, a management department or an enterprise can more rapidly acquire and sort relevant information of the vehicle; accurate recording of vehicle identification information and driver information helps to ensure legitimacy of vehicles and personnel, preventing illegal vehicles and unqualified drivers from participating in operation. Meanwhile, the real-time monitoring of the GPS equipment installation information and the communication network information is also beneficial to timely finding and processing potential safety hazards, and the detailed recording of the vehicle load information is beneficial to enterprises to reasonably arrange transportation tasks, so that the situations of wasting resources such as overload or idle running are avoided. In addition, the monitoring of the communication network information can also help enterprises to optimize vehicle dispatching and communication modes, improve operation efficiency, analyze the efficiency and reliability of a transportation route according to vehicle load information and communication network state information, and provide basis for optimizing a transportation scheme.
Inertial measurement of the commercial vehicle in S2, comprising:
validating the angular velocity and acceleration of the commercial vehicle from inertial elements on the commercial vehicle;
Wherein the inertial element is a gyroscope and an accelerometer which are installed on a commercial vehicle;
Before the data of angular speed and acceleration are acquired, the inertial element is calibrated, and the calibration of the inertial element is the test and adjustment of static characteristics and dynamic characteristics;
carrying out data preprocessing after angular velocity and acceleration data are acquired, wherein the data preprocessing comprises filtering, denoising and integration;
and after the data preprocessing is completed, acquiring the change of the speed and the position of the commercial vehicle, wherein the change of the speed and the position of the commercial vehicle is inertial measurement data.
Specifically, the angular velocity and acceleration of the commercial vehicle can be measured continuously in real time by inertial elements such as gyroscopes and accelerometers, and further the change of the velocity and position can be calculated. This approach does not rely on external GPS signals, and thus can still provide relatively accurate positioning information in areas where GPS signals are poor or interrupted; the static characteristic and the dynamic characteristic of the inertial element are tested and adjusted, the error of the element can be eliminated or reduced, the measurement accuracy is improved, the random error and noise in the measurement data can be effectively removed through the preprocessing steps of filtering, denoising, integration and the like, the signal-to-noise ratio of the data is improved, so that more reliable speed and position change information is obtained, inertial measurement data can be fused with other sensor data such as GPS, cameras and radars, complementation and optimization of multi-source information are realized, and the positioning accuracy and the sensing capability of the commercial vehicle are further improved.
Specifically, the adjustment of the dynamic characteristics of the inertial element before the data acquisition of the angular velocity and the acceleration is performed includes:
Initializing the inertial element to obtain initialized initial operation parameters; wherein the initial operating parameters include an initial zero offset value and an initial maximum allowable error;
Controlling the inertial element to perform a test run to obtain a test run test result, wherein the test run test result comprises an error value between a measured value and a true value;
Obtaining an error offset factor by utilizing an error value between the measured value and the true value, wherein the error offset factor is obtained by the following formula;
；
wherein E p represents an error offset factor; n represents the number of tests in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; e 01 and e 02 represent a first deviation factor and a second deviation factor; the first deviation factor and the second deviation factor are obtained through the following formula:
；
Wherein n represents the test times in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; x 0 represents an initial zero offset value; e max denotes an initial maximum allowable error;
and adjusting the initial maximum allowable error by using the error offset factor and the initial zero offset value to obtain the adjusted maximum allowable error.
The technical effects of the technical scheme are as follows: by initializing and testing the inertial component, the initial operating parameters and the error values between the measured values and the true values can be obtained. The error offset factor is calculated by using the error values, and the initial maximum allowable error is adjusted by using the factor and the initial zero offset value, so that the measurement accuracy of the inertial element and the reliability of data can be obviously improved.
During the test run, a first deviation factor and a second deviation factor are calculated, which factors enable a finer description of the error characteristics of the inertial element. The error is compensated according to the factors, so that the system is more suitable for different working environments and conditions, and the robustness of the system is improved.
The calculated error offset factor is used for adjusting the initial maximum allowable error, so that a more accurate error threshold value can be provided for subsequent data processing. This helps to simplify the data processing flow and reduce the computational complexity and uncertainty due to mishandling of errors.
The output data of the inertia element after the adjustment is more accurate and reliable, and more accurate input can be provided for applications (such as navigation, positioning, gesture control and the like) based on the angular speed and acceleration data. This will help to improve the overall system performance, making it more practical.
Through dynamic characteristic adjustment, errors of the inertial element can be found and corrected in time, and system performance degradation and fault risks caused by error accumulation are reduced. This will help to reduce maintenance costs of the system, improving the life and stability of the system.
In summary, according to the technical scheme, through dynamic characteristic adjustment of the inertial element, the accuracy and reliability of data can be remarkably improved, the adaptability and robustness of the system are enhanced, the data processing flow is optimized, the performance of the system is improved, and the maintenance cost of the system is reduced. These technical effects are of great significance for improving the overall performance and application value of inertial element based systems.
Specifically, the initial maximum allowable error is adjusted by using the error offset factor and the initial zero offset value, so as to obtain an adjusted maximum allowable error, which includes:
calling the initial zero offset value;
after the inertial element completes the test run test, acquiring a zero offset value after the test run test is completed;
acquiring a zero offset coefficient by using the zero offset value and the initial zero offset value; wherein the zero-point offset coefficient is obtained by the following formula:
；
Wherein s represents a zero-point offset coefficient; x 0c represents a zero offset value; x 0 represents an initial zero offset value; n represents the number of tests in the test run test process;
Invoking the error offset factor;
The maximum allowable error is adjusted by utilizing the zero point offset coefficient and combining an error offset factor, and the adjusted maximum allowable error is obtained; the adjusted maximum allowable error is obtained through the following formula:
；
Wherein E t represents the maximum allowable error after adjustment; e p represents an error offset factor; s represents a zero-point offset coefficient; λ represents a compensation coefficient, and the compensation coefficient is obtained by the following formula:
；
Wherein λ represents a compensation coefficient; e max denotes an initial maximum allowable error; e sm represents the maximum error value that occurs during the test run.
The technical effects of the technical scheme are as follows: through test run test, the system can acquire zero offset value and measurement error of the inertial element in an actual working state. By using the real-time data, the zero offset coefficient and the error offset factor can be calculated by combining the initial zero offset value and the initial maximum allowable error. The two factors act on the adjustment of the initial maximum allowable error together, so that the accuracy of the output data of the inertial element is improved.
The zero point offset coefficient and the error offset factor are introduced, so that the system can be dynamically adjusted according to the characteristics of different inertial elements and actual working environments. The adjustment mode can better adapt to measurement requirements under different conditions, and improves the adaptability and the robustness of the system.
The maximum allowable error is adjusted by using the zero point offset coefficient and the error offset factor, and the error of the output data of the inertial element is essentially comprehensively compensated. The compensation mode not only considers the inherent error of the inertial element, but also considers the influence of the working environment change on the measurement result, thereby realizing more accurate control of the error.
By adjusting the maximum allowable error, the system can more accurately judge the reliability of the inertial element output data. When the data exceeds the maximum allowable error range after adjustment, the system can take corresponding measures to correct or alarm, so that the influence of error accumulation on the system performance is avoided. This adjustment helps to improve the overall performance and stability of the system.
Since the system can detect and adjust the errors of the inertial element in real time, the system performance degradation and the failure risk caused by error accumulation can be reduced. This will help to reduce maintenance costs of the system, improving the life and reliability of the system.
In summary, according to the above technical scheme, through dynamically adjusting the initial maximum allowable error of the inertial element, the accuracy of the output data of the inertial element is improved, the adaptability of the system is enhanced, the error compensation is optimized, and the performance of the system is improved. These technical effects are of great significance for improving the overall performance and application value of inertial element based systems.
Performing a preliminary GPS fix for the commercial vehicle in S2, comprising:
performing preliminary GPS positioning on the commercial vehicle according to a GPS receiver on the commercial vehicle;
The GPS receiver receives signals of GPS satellites with known positions, wherein the signals of the GPS satellites with known positions comprise time stamp signals, the time stamp signals correspond to time in satellite ephemeris, and the satellite ephemeris is retrieved from a database;
the GPS receiver determines the distance between the GPS receiver and each satellite by measuring the propagation time of the signal, and the GPS receiver acquires the distance of not less than three satellites;
Determining the position of the GPS receiver according to the geometric relationship in the three-dimensional space;
The position of the GPS receiver is preliminary GPS positioning data.
After the position of the GPS receiver is obtained by performing preliminary GPS positioning on the commercial vehicle, the method further comprises the steps of obtaining the heading and attitude information of the commercial vehicle in the running state to be used as preliminary GPS positioning data together, and comprises the following steps:
acquiring motion parameters, motion tracks and motion images of a commercial vehicle in a preset period;
Mapping the motion trail to a preset vertical orbit coordinate to determine a target point out of the orbit boundary range;
Acquiring coordinate values of the target points, and determining the offset direction and the offset of each target point relative to the vertical track according to the coordinate values;
acquiring a motion sequence of the commercial vehicle according to the motion parameters and the motion images, and determining motion state offset of the commercial vehicle in each direction based on the motion sequence and offset directions and offset amounts of each target point relative to the vertical track;
estimating motion state offset of the commercial vehicle in all directions by using a Kalman filtering basic equation to obtain an estimated state vector;
acquiring an initial posture matrix of a preset vertical track;
determining a posture error angle and a lateral offset of the commercial vehicle according to the estimated state vector;
correcting the initial gesture matrix by using the gesture error angle and the transverse offset to obtain a corrected gesture matrix;
According to the corrected attitude matrix, calculating the pitch angle, roll angle and heading angle of the commercial vehicle;
And judging the attitude angle change section of the commercial vehicle according to the pitch angle, the roll angle, the course angle, the angular velocity value and the acceleration value of the commercial vehicle.
And determining the vehicle heading attitude information of the commercial vehicle in the running state according to the attitude angle change section and the heading path parameters of the commercial vehicle.
The beneficial effects of the technical scheme are as follows: the commercial vehicle can acquire the current position information in real time by receiving GPS satellite signals with known positions through the GPS receiver, provides real-time guarantee for navigation, tracking, scheduling and other applications, determines the distance between each satellite by measuring the signal propagation time, acquires the distance information of at least three satellites, and can accurately calculate the position of the GPS receiver by utilizing the principle of triangular positioning. The high-precision characteristic of the GPS system enables the positioning method to have high reliability and accuracy, and the GPS receiver can automatically receive and process satellite signals without manual intervention, so that the complexity of positioning operation is greatly simplified. Meanwhile, the GPS positioning data can be conveniently integrated and shared with other vehicle-mounted systems or background management systems.
In addition, in order to achieve accurate positioning of the commercial vehicle, it is necessary to acquire vehicle heading attitude information of the commercial vehicle in a running state for use together with the position of the GPS receiver as GPS positioning data, which is more accurate and reliable, according to the invention, the attitude angle information of the vehicle in the running state can be quickly and intuitively determined by determining the motion state offset of the vehicle in each direction, so that conditions are laid for subsequent attitude assessment, and further, the final heading attitude of the vehicle can be reasonably determined based on the angle variable information and the vehicle speed information by adjusting the attitude matrix so as to determine the heading attitude information of the vehicle in the running state, so that the rationality and the accuracy of data are ensured.
In order to solve the problem in the prior art that the final GPS positioning data of the vehicle is inaccurate because no further data optimization and no better data fusion between the positioning data and the auxiliary data are performed after the GPS positioning of the vehicle is acquired, referring to fig. 1 and 2, the present embodiment provides the following technical solutions:
GPS data optimization is carried out on GPS positioning data of the target vehicle through a differential technology in S3, and the method comprises the following steps:
Positioning and optimizing preliminary GPS positioning data in the GPS positioning data of the target vehicle through a differential GPS technology;
Performing pseudo-range correction calculation on the preliminary GPS positioning data according to satellite signals and self coordinates, wherein a pseudo-range correction calculation formula is called from a database;
And transmitting the calculation result of the pseudo-range correction amount to the GPS receiver through a wireless signal.
The GPS receiver receives satellite signals and simultaneously receives the calculation result of the pseudo-range correction, and the user side corrects the measured preliminary GPS positioning data according to the calculation result of the pseudo-range correction;
the GPS receiver obtains the position of the GPS receiver through triangulation by combining the corrected preliminary GPS positioning data with the position information of a plurality of satellites, wherein the position of the GPS receiver obtained through the triangulation is the GPS data optimization result.
Specifically, the differential GPS technique uses differential computation between the reference station and the mobile station to eliminate various error factors (such as atmospheric delay, clock error, ionosphere error, etc.), thereby significantly improving positioning accuracy, and the differential GPS technique can calculate pseudo-range correction in real time and transmit to the GPS receiver through wireless signals. This means that the GPS receiver can receive and use these corrections in real time to optimize the positioning data without waiting for post-processing, thereby ensuring timeliness of the positioning information, and by means of triangulation techniques, the position of the GPS receiver can be accurately calculated using the position information of multiple satellites, thereby further optimizing the positioning data.
And (3) fusing the GPS data optimization result and the inertial measurement data for S3, wherein the method comprises the following steps:
respectively acquiring GPS data optimization results and inertial measurement data;
Carrying out data fusion on the GPS data optimization result and the inertial measurement data by utilizing a complementary filtering technology;
when the GPS data optimization result and the inertial measurement data are subjected to data fusion, the weight of the GPS data optimization result and the inertial measurement data is dynamically adjusted through a Kalman filtering technology;
And after the dynamic weight adjustment is completed, obtaining data obtained by integrating the GPS data optimization result and the inertial measurement data, and marking the data as standard vehicle GPS positioning data.
Specifically, by fusing the GPS data optimization result with the inertial measurement data, the advantages of the GPS data optimization result and the inertial measurement data can be fully utilized, and the defects of the GPS data optimization result and the inertial measurement data can be made up. GPS can provide global location information, but in some environments (e.g., high-rise dense areas, tunnels, etc.) may be subject to signal interference or shadowing, resulting in reduced positioning accuracy or failure to locate. And an Inertial Measurement Unit (IMU) can calculate position information by measuring acceleration and angular velocity of a vehicle, with high accuracy and continuity in a short time. Therefore, the combination of the two can obviously improve the positioning accuracy and reliability, particularly in the environment with poor GPS signals, the weight dynamic adjustment of the GPS data optimization result and the inertia measurement data is carried out by the Kalman filtering technology, and the contribution degree of the two data sources can be adjusted in real time according to the actual situation. The dynamic adjustment can ensure that optimal positioning results can be obtained under different environments, the adaptability and the robustness of the system are improved, and the complementarity of the GPS and the inertial measurement data can be fully exerted by using the complementary filtering technology. The GPS data provides absolute position information and the inertial measurement data provides relative position information. By fusing the two data, respective errors and drifting can be eliminated, and the overall positioning performance is improved.
For S4, transmitting standard GPS positioning data of the vehicle to a commercial vehicle display terminal through signals and receiving a driver control instruction, the method comprises the following steps:
transmitting standard vehicle GPS positioning data to a vehicle cloud server through a wireless signal, and receiving a control instruction of the vehicle cloud server;
And the display terminal of the commercial vehicle displays the standard vehicle GPS positioning data of the commercial vehicle, and a driver controls the commercial vehicle through the display terminal and simultaneously receives a control instruction of the vehicle cloud server.
Specifically, standard vehicle GPS positioning data are transmitted to a vehicle cloud server in real time through wireless signals, so that timeliness and latest performance of the data are ensured. The driver can obtain the position information of the vehicle in time, so that accurate decision and operation can be made, and the vehicle cloud server can receive and send control instructions to realize remote control and management of the vehicle. The capability enables a management department or an enterprise to remotely monitor the vehicle state, schedule, route plan and the like, improves the management efficiency and response speed, and enables the display terminal of the commercial vehicle to intuitively display standard vehicle GPS positioning data so as to provide clear vehicle position information for a driver. The driver can control the operation through the display terminal, and receive the control instruction of vehicle high in the clouds server for the operation is more convenient and high-efficient, through being connected GPS positioning data with vehicle high in the clouds server, can realize the integration and the sharing of information.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A commercial vehicle GPS enhanced high-precision positioning method is characterized by comprising the following steps:
s1: firstly, confirming basic information of a commercial vehicle, and respectively classifying attributes according to the types of the basic information;
S2: firstly, carrying out inertial measurement on a commercial vehicle, then carrying out preliminary GPS positioning on the commercial vehicle according to basic information of the commercial vehicle, and marking inertial measurement data and preliminary GPS positioning data as target vehicle GPS positioning data;
s3: performing GPS data optimization on the GPS positioning data of the target vehicle through a differential technology, performing fusion processing on a GPS data optimization result and inertial measurement data, and marking the GPS positioning data of the target vehicle after the matching fusion processing as standard GPS positioning data of the vehicle;
S4: transmitting standard vehicle GPS positioning data to a commercial vehicle display terminal through signals, and receiving a driver control instruction;
Inertial measurement of the commercial vehicle in S2, comprising:
validating the angular velocity and acceleration of the commercial vehicle from inertial elements on the commercial vehicle;
Wherein the inertial element is a gyroscope and an accelerometer which are installed on a commercial vehicle;
Before the data of angular speed and acceleration are acquired, the inertial element is calibrated, and the calibration of the inertial element is the test and adjustment of static characteristics and dynamic characteristics;
carrying out data preprocessing after angular velocity and acceleration data are acquired, wherein the data preprocessing comprises filtering, denoising and integration;
Obtaining the change of the speed and the position of the commercial vehicle after the data preprocessing is completed, wherein the change of the speed and the position of the commercial vehicle is inertial measurement data;
The adjustment of the dynamic characteristics of the inertial element before the data acquisition of angular velocity and acceleration is performed comprises:
Initializing the inertial element to obtain initialized initial operation parameters; wherein the initial operating parameters include an initial zero offset value and an initial maximum allowable error;
Controlling the inertial element to perform a test run to obtain a test run test result, wherein the test run test result comprises an error value between a measured value and a true value;
Obtaining an error offset factor by utilizing an error value between the measured value and the true value, wherein the error offset factor is obtained by the following formula;
；
wherein E p represents an error offset factor; n represents the number of tests in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; e 01 and e 02 represent a first deviation factor and a second deviation factor; the first deviation factor and the second deviation factor are obtained through the following formula:
；
Wherein n represents the test times in the test run test process; x si represents the measurement of the ith test; x zi represents the true value of the ith measurement; x 0 represents an initial zero offset value; e max denotes an initial maximum allowable error;
adjusting the initial maximum allowable error by using the error offset factor and the initial zero offset value to obtain an adjusted maximum allowable error;
And adjusting the initial maximum allowable error by using the error offset factor and the initial zero offset value to obtain an adjusted maximum allowable error, wherein the method comprises the following steps of:
calling the initial zero offset value;
after the inertial element completes the test run test, acquiring a zero offset value after the test run test is completed;
acquiring a zero offset coefficient by using the zero offset value and the initial zero offset value; wherein the zero-point offset coefficient is obtained by the following formula:
；
Wherein s represents a zero-point offset coefficient; x 0c represents a zero offset value; x 0 represents an initial zero offset value; n represents the number of tests in the test run test process;
Invoking the error offset factor;
The maximum allowable error is adjusted by utilizing the zero point offset coefficient and combining an error offset factor, and the adjusted maximum allowable error is obtained; the adjusted maximum allowable error is obtained through the following formula:
；
Wherein E t represents the maximum allowable error after adjustment; e p represents an error offset factor; s represents a zero-point offset coefficient; λ represents a compensation coefficient, and the compensation coefficient is obtained by the following formula:
；
Wherein λ represents a compensation coefficient; e max denotes an initial maximum allowable error; e sm represents the maximum error value that occurs during the test run.
2. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 1, wherein: confirming basic information of the commercial vehicle in S1, and respectively classifying attributes according to the types of the basic information, wherein the method comprises the following steps:
basic information of the commercial vehicle includes vehicle identification information, driver information, GPS device installation information, communication network information, and vehicle load information;
the vehicle identification information is license plate number, vehicle model, vehicle color and operation license; the driver information is the identity and authority of the vehicle owner or the user and the driving qualification; the GPS equipment installation information comprises the model number, the installation position and the equipment number of the GPS equipment; the communication network information is the communication mode of the vehicle and the network state information; the vehicle load information is the load condition and cargo information of the vehicle;
and classifies the vehicle identification information, the driver information, the GPS device installation information, the communication network information, and the vehicle load information, respectively, according to the attributes.
3. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 2, wherein: performing a preliminary GPS fix for the commercial vehicle in S2, comprising:
performing preliminary GPS positioning on the commercial vehicle according to a GPS receiver on the commercial vehicle;
The GPS receiver receives signals of GPS satellites with known positions, wherein the signals of the GPS satellites with known positions comprise time stamp signals, the time stamp signals correspond to time in satellite ephemeris, and the satellite ephemeris is retrieved from a database;
the GPS receiver determines the distance between the GPS receiver and each satellite by measuring the propagation time of the signal, and the GPS receiver acquires the distance of not less than three satellites;
Determining the position of the GPS receiver according to the geometric relationship in the three-dimensional space;
The position of the GPS receiver is preliminary GPS positioning data.
4. A method for GPS enhanced high-precision positioning of a commercial vehicle according to claim 3, wherein: after the position of the GPS receiver is obtained by performing preliminary GPS positioning on the commercial vehicle, the method further comprises the steps of obtaining the heading and attitude information of the commercial vehicle in the running state to be used as preliminary GPS positioning data together, and comprises the following steps:
acquiring motion parameters, motion tracks and motion images of a commercial vehicle in a preset period;
Mapping the motion trail to a preset vertical orbit coordinate to determine a target point out of the orbit boundary range;
Acquiring coordinate values of the target points, and determining the offset direction and the offset of each target point relative to the vertical track according to the coordinate values;
acquiring a motion sequence of the commercial vehicle according to the motion parameters and the motion images, and determining motion state offset of the commercial vehicle in each direction based on the motion sequence and offset directions and offset amounts of each target point relative to the vertical track;
estimating motion state offset of the commercial vehicle in all directions by using a Kalman filtering basic equation to obtain an estimated state vector;
acquiring an initial posture matrix of a preset vertical track;
determining a posture error angle and a lateral offset of the commercial vehicle according to the estimated state vector;
correcting the initial gesture matrix by using the gesture error angle and the transverse offset to obtain a corrected gesture matrix;
According to the corrected attitude matrix, calculating the pitch angle, roll angle and heading angle of the commercial vehicle;
judging a posture angle change section of the commercial vehicle according to the pitch angle, the roll angle, the course angle, the angular velocity value and the acceleration value of the commercial vehicle;
and determining the vehicle heading attitude information of the commercial vehicle in the running state according to the attitude angle change section and the heading path parameters of the commercial vehicle.
5. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 4, wherein: GPS data optimization is carried out on GPS positioning data of the target vehicle through a differential technology in S3, and the method comprises the following steps:
Positioning and optimizing preliminary GPS positioning data in the GPS positioning data of the target vehicle through a differential GPS technology;
Performing pseudo-range correction calculation on the preliminary GPS positioning data according to satellite signals and self coordinates, wherein a pseudo-range correction calculation formula is called from a database;
And transmitting the calculation result of the pseudo-range correction amount to the GPS receiver through a wireless signal.
6. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 5, wherein: performing GPS data optimization on GPS positioning data of the target vehicle through a differential technology in S3, and further comprising:
The GPS receiver receives satellite signals and simultaneously receives the calculation result of the pseudo-range correction, and the user side corrects the measured preliminary GPS positioning data according to the calculation result of the pseudo-range correction;
the GPS receiver obtains the position of the GPS receiver through triangulation by combining the corrected preliminary GPS positioning data with the position information of a plurality of satellites, wherein the position of the GPS receiver obtained through the triangulation is the GPS data optimization result.
7. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 6, wherein: and (3) fusing the GPS data optimization result and the inertial measurement data for S3, wherein the method comprises the following steps:
respectively acquiring GPS data optimization results and inertial measurement data;
Carrying out data fusion on the GPS data optimization result and the inertial measurement data by utilizing a complementary filtering technology;
when the GPS data optimization result and the inertial measurement data are subjected to data fusion, the weight of the GPS data optimization result and the inertial measurement data is dynamically adjusted through a Kalman filtering technology;
And after the dynamic weight adjustment is completed, obtaining data obtained by integrating the GPS data optimization result and the inertial measurement data, and marking the data as standard vehicle GPS positioning data.
8. The method for GPS-enhanced high-precision positioning of a commercial vehicle according to claim 7, wherein: for S4, transmitting standard GPS positioning data of the vehicle to a commercial vehicle display terminal through signals and receiving a driver control instruction, the method comprises the following steps:
transmitting standard vehicle GPS positioning data to a vehicle cloud server through a wireless signal, and receiving a control instruction of the vehicle cloud server;
And the display terminal of the commercial vehicle displays the standard vehicle GPS positioning data of the commercial vehicle, and a driver controls the commercial vehicle through the display terminal and simultaneously receives a control instruction of the vehicle cloud server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410954906.0A CN118501909B (en) | 2024-07-17 | 2024-07-17 | GPS enhanced high-precision positioning method for commercial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410954906.0A CN118501909B (en) | 2024-07-17 | 2024-07-17 | GPS enhanced high-precision positioning method for commercial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118501909A CN118501909A (en) | 2024-08-16 |
| CN118501909B true CN118501909B (en) | 2024-10-01 |
Family
ID=92231469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410954906.0A Active CN118501909B (en) | 2024-07-17 | 2024-07-17 | GPS enhanced high-precision positioning method for commercial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118501909B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207634A (en) * | 2013-03-20 | 2013-07-17 | 北京工业大学 | Data fusion system and method of differential GPS (Global Position System) and inertial navigation in intelligent vehicle |
| CN104835029A (en) * | 2015-05-26 | 2015-08-12 | 丹阳飓风物流股份有限公司 | Comprehensive management system for logistics vehicles |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102865881B (en) * | 2012-03-06 | 2014-12-31 | 武汉大学 | Quick calibration method for inertial measurement unit |
| CN106705966A (en) * | 2016-09-18 | 2017-05-24 | 北京星网卫通科技开发有限公司 | Stable platform system capable of realizing high-precision absolute position and posture measurement |
| CN109059961B (en) * | 2018-08-15 | 2021-11-05 | 北京航空航天大学 | Error range analysis method for gyroscope measuring instrument |
| US20210063162A1 (en) * | 2019-08-26 | 2021-03-04 | Mobileye Vision Technologies Ltd. | Systems and methods for vehicle navigation |
| WO2023023936A1 (en) * | 2021-08-24 | 2023-03-02 | 华为技术有限公司 | Positioning method and positioning apparatus |
-
2024
- 2024-07-17 CN CN202410954906.0A patent/CN118501909B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207634A (en) * | 2013-03-20 | 2013-07-17 | 北京工业大学 | Data fusion system and method of differential GPS (Global Position System) and inertial navigation in intelligent vehicle |
| CN104835029A (en) * | 2015-05-26 | 2015-08-12 | 丹阳飓风物流股份有限公司 | Comprehensive management system for logistics vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118501909A (en) | 2024-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9921065B2 (en) | Unit and method for improving positioning accuracy | |
| US9162682B2 (en) | Method and device for determining the speed and/or position of a vehicle | |
| US10234292B2 (en) | Positioning apparatus and global navigation satellite system, method of detecting satellite signals | |
| CN101382431B (en) | Positioning system and method thereof | |
| US11287824B2 (en) | Detecting a location of an autonomous device | |
| US8892331B2 (en) | Drive assist system and wireless communication device for vehicle | |
| US20120173185A1 (en) | Systems and methods for evaluating range sensor calibration data | |
| US10365109B2 (en) | Travel distance estimation device | |
| CN111077549A (en) | Position data correction method, apparatus and computer readable storage medium | |
| US10732299B2 (en) | Velocity estimation device | |
| EP3907720B1 (en) | Own position estimating device, automatic driving system comprising same, and own generated map sharing device | |
| US20170074678A1 (en) | Positioning and orientation data analysis system and method thereof | |
| CN110632635A (en) | Positioning method and device of automatic driving vehicle, electronic equipment and readable medium | |
| CN111913200A (en) | Vehicle group differential positioning method, RSU (remote subscriber Unit) equipment, fusion sensing equipment and system | |
| KR20190040818A (en) | 3D vehicular navigation system using vehicular internal sensor, camera, and GNSS terminal | |
| CN115407376A (en) | Vehicle positioning calibration method and device, computer equipment and storage medium | |
| CN113419265B (en) | Positioning method and device based on multi-sensor fusion and electronic equipment | |
| CN113063441B (en) | Data source correction method and device for accumulated calculation error of odometer | |
| CN106886037B (en) | POS data method for correcting error suitable for weak GNSS signal condition | |
| CN118501909B (en) | GPS enhanced high-precision positioning method for commercial vehicle | |
| CN117785898A (en) | GNSS-combined state quantity updating method, GNSS-combined state quantity updating device, GNSS-combined state quantity updating equipment and GNSS-combined state quantity updating medium | |
| Alaeiyan et al. | GPS/INS integration via faded memory Kalman filter | |
| CN114413929A (en) | Positioning information verification method, device and system, unmanned vehicle and storage medium | |
| KR100491168B1 (en) | Measuring system for position and posture using multi-GPS constrained geometricaly | |
| KR102679159B1 (en) | Error correction system of main GPS module through additional installation of auxiliary GPS module |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |