CN101545788B - Vehicle positioning implementing method - Google Patents

Abstract

The invention relates to navigation and positioning technology, in particular to a method for realizing vehicle positioning. Aiming at the respective shortcomings of GPS and DR in the prior art, the invention discloses a method for realizing vehicle positioning, combining the two to realize efficient, accurate and continuous positioning. The main points of the technical solution can be summarized as follows: judge whether the longitude and latitude data obtained from the GPS module are abnormal, if there is no abnormality, use the GPS and electronic map matching algorithm to obtain the current road where the vehicle is located and the specific position on the road, if there is If there is an abnormality, the DR and the electronic map matching algorithm are used to obtain the current road of the vehicle and the specific position on the road. The beneficial effect of the present invention is: combined with GPS and DR, it is suitable for realizing efficient, accurate and continuous positioning of vehicles.

Description

The implementation method of vehicle location

Technical field

The present invention relates to the navigator fix technology, relate to a kind of implementation method of vehicle location specifically.

Background technology

Along with developing rapidly of intelligent transportation system, the vehicle positioning and navigation system is also in continuous development.Nowadays mainly contain GPS (GPS) and boat position navigational system (DR) etc. and be used for vehicle location.Any on earth place of GPS can observe at least four satellites continuously simultaneously, thereby has guaranteed needs global, round-the-clock continuous real-time positioning.But stand in great numbers at high building, gps signal may be received and block under the tree shade, the GPS location is temporary transient lost efficacy or can not locate continuously thereby cause.DR utilizes direction and speed pickup to calculate vehicle location, and is higher for short-range location survey precision, but the error of direction sensor is bigger, and accumulative total in time can disperse, and therefore is not suitable for the location of long distance.

Summary of the invention

Technical matters to be solved by this invention is: at the shortcoming that GPS in the prior art and DR exist separately, propose a kind of implementation method of vehicle location, the two is combined to realize efficient, accurate, continuous location.

The present invention solves the problems of the technologies described above the technical scheme that is adopted: the implementation method of vehicle location may further comprise the steps:

A. read the longitude and latitude data of the current location that the GPS module gets access in real time;

B. judge whether the longitude and latitude data that the GPS module obtains are unusual, if, execution in step d then, otherwise execution in step c;

C. be corresponding rectangular coordinate with the longitude and latitude data conversion, the valid data according in the rectangular coordinate loading electronic chart adopt GPS and electronic map match algorithm, jump to step e;

D. be corresponding rectangular coordinate with the longitude and latitude data conversion,, and load the previous elements of a fix, vehicle running velocity and direction information, adopt DR and electronic map match algorithm according to the valid data in the rectangular coordinate loading electronic chart;

E. positioned vehicle present located road reaches the particular location at road of living in.

Among the described step b, judge whether unusual method is the longitude and latitude data that the GPS module obtains: if the positional precision dilution value greater than 6, longitude and latitude data exception then; If current longitude and latitude data not in the theoretical scope in the geographic area that predefined vehicle is exercised, longitude and latitude data exception then; If current vehicle running velocity is above predefined vehicle running velocity maximal value or less than predefined vehicle running velocity minimum value, then longitude and latitude data exception.

Among described step c, the d, the method that loads the valid data in the electronic chart according to rectangular coordinate is: be the center of circle with the rectangular coordinate, select suitable radius to justify, load the road data in the circle.

Among the described step e, (1) for adopting GPS and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is: if the road number in the circle is one, just can judge that vehicle is to exercise on this road; If more than one of the road number in the circle, calculate the vertical range of the center of circle so to each bar road, find out the shortest road of vertical range and be the current enforcement road of vehicle, find out the center of circle again and be the particular location of vehicle on this road to the minimum distance point of the current enforcement road of vehicle; (2) for adopting DR and electronic map match algorithm, the method that positioned vehicle present located road reaches at the particular location of road of living in is: 1. get GPS and lose previous positioning result A (X ₀, Y ₀) be the location reference position, and note travel ID number of its place;

2. according to alignment sensor obtain travelling distance information Δ S and angle information θ, obtain the increment of coordinate of vehicle X and Y direction between twice signal sampling by following formula;

$\left\{\begin{array}{c}\mathrm{\ΔX}=\mathrm{\ΔS}\·\sin \mathrm{\θ}\\ \mathrm{\ΔY}=\mathrm{\ΔS}\·\cos \mathrm{\θ}\end{array}\right.$

3. by the current position coordinates B (X of following formula to calculating vehicle ₁, Y ₁);

B(X ₁，Y ₁)＝A(X ₀，Y ₀)+(ΔX，ΔY)

4. search for B (X on the current driving road ₁, Y ₁) closest approach C (X ₂, Y ₂), and the distance, delta D between calculating B and the C ₀

5. road information is handled: if the C point is intersection or node, can concern the road that finds connection by road topology according to the numbering of node, determine the road of the most similar road in road position angle for travelling by the azimuth information that aspect sensor provides;

6. judge: if Δ D ₀Poor smaller or equal to limit, then C is the vehicle location point, and record C is the road ID of current driving place road ID number; Otherwise, if Δ D ₀Poor greater than limit, to get on A point and the C point place straight line, the vertical projection point that B is ordered is the vehicle location point, writes down this place and is the road ID of current driving road ID number.

The invention has the beneficial effects as follows: can realize efficient, accurate, continuous location to vehicle in conjunction with GPS and DR.

Description of drawings

Fig. 1 is the vehicle location implementation method process flow diagram among the present invention.

Embodiment

The invention will be further described below in conjunction with drawings and Examples.

The present invention is with respect to prior art, GPS is combined with DR, the data of obtaining in real-time position information of obtaining by the GPS module and the electronic chart are among a small circle carried out Matching Location fast, under the situation that does not have gps signal or gps signal crested, take the Matching Location of DR and electronic chart, finally realized efficient, accurate, continuous location.

As shown in Figure 1, the vehicle location implementation method among the present invention adopts following steps to realize that a. reads the longitude and latitude data of the current location that the GPS module gets access in real time; B. judge whether the longitude and latitude data that the GPS module obtains are unusual, if, execution in step d then, otherwise execution in step c; C. be corresponding rectangular coordinate with the longitude and latitude data conversion, the valid data according in the rectangular coordinate loading electronic chart adopt GPS and electronic map match algorithm, jump to step e; D. be corresponding rectangular coordinate with the longitude and latitude data conversion,, and load the previous elements of a fix, vehicle running velocity and direction information, adopt DR and electronic map match algorithm according to the valid data in the rectangular coordinate loading electronic chart; E. positioned vehicle present located road; F. the current particular location on road of living in of positioned vehicle.

Embodiment:

Vehicle location performing step in this example is as follows: be divided into four big steps: 1.GPS data preprocessing process: the longitude and latitude data that read the current location that the GPS module gets access in real time.2. the selection of map-matching method: when data exception that the GPS module is obtained or no datat, automatically switch to DR and electronic map match algorithm; The data that the GPS module is obtained just often automatically switch to GPS and electronic map match algorithm.3. the loading of the conversion of longitude and latitude data and map datum: a. is real-time longitude and latitude data conversion corresponding rectangular coordinate; B. according to real-time rectangular coordinate, load the valid data (with current coordinate is the center, loads the data in the close scope) in the electronic chart.4. the vehicle ' highway section is definite: need select different location implementation methods this moment according to different matching process, but its basic ideas are to belong to that road for following two point: a. location current location still; B. the location belongs to which position of that road.

The factor that gps data is carried out mainly considering pretreated the time has: the PDOP that the GPS module provides (positional precision dilution) value (generally getting PROP＜6), body of a map or chart (pre-determining effective geographic area of vehicle '), and the travel speed of vehicle etc.: if PROP＞6, then longitude and latitude data exception; If current longitude and latitude data not in the theoretical scope in the geographic area that predefined vehicle is exercised, longitude and latitude data exception then; If current vehicle running velocity is above predefined vehicle running velocity maximal value or less than predefined vehicle running velocity minimum value, then longitude and latitude data exception.Its theoretical foundation is: when PROP＞6 or longitude and latitude data not in the geographic area scope that predefined vehicle is exercised or current vehicle running velocity surpasses predefined vehicle running velocity maximal value or during less than predefined vehicle running velocity minimum value, the vehicle enforcement is described on tunnel or viaduct, gps signal crested this moment.Need select DR and electronic chart to carry out Matching Algorithm for above-mentioned situation, otherwise just select GPS and electronic chart to carry out Matching Algorithm.

Loading for the longitude and latitude data: is the longitude and latitude data conversion of obtaining from the GPS module rectangular coordinate; With the rectangular coordinate after transforming is the center of circle, selects suitable radius to do circle, and the road data in the circle is loaded in the internal memory, and if the DR that selects and the matching process of electronic chart, just need add to carry previous elements of a fix, the travel speed of automobile such as turns at information.

After having loaded the longitude and latitude data, will carry out vehicle and exercise determining of determining of highway section and the particular location on the enforcement highway section, introduce the implementation method of GPS and electronic map match below earlier: (1) can judge directly that so vehicle travels on this road if the road number in the circle scope is one; If more than one of the road number in the circle scope then calculates the vertical range of the center of circle to every road, find out the shortest road of distance at last, be the highway section of vehicle current driving.(2) find out the center of circle again and be the particular location of vehicle on this road to the minimum distance point of the current enforcement road of vehicle.

For DR and electronic map match implementation method:

DR is similar to the matching algorithm of electronic chart with GPS to the electronic map match algorithm, but the DR location must pre-determine initial position, is provided by GPS.The specific implementation process is:

(1) gets GPS and lose previous positioning result A (X ₀, Y ₀) be the location reference position, and note travel ID number of its place;

(2), obtain the increment of coordinate of vehicle X and Y direction between twice signal sampling by following formula according to alignment sensor (direction sensor, speed pickup) obtain travelling distance information Δ S and angle information θ;

$\left\{\begin{array}{c}\mathrm{\ΔX}=\mathrm{\ΔS}\·\sin \mathrm{\θ}\\ \mathrm{\ΔY}=\mathrm{\ΔS}\·\cos \mathrm{\θ}\end{array}\right.$

(3) by the current position coordinates B (X of following formula to calculating vehicle ₁, Y ₁);

B(X ₁，Y ₁)＝A(X ₀，Y ₀)+(ΔX，ΔY)

(4) B (X on the search current driving road ₁, Y ₁) closest approach C (X ₂, Y ₂), and the distance, delta D between calculating B and the C ₀

(5) road information is handled: if road is that node (starting point or terminating point) or road arrive the crossing during to C, can concern the road that finds connection by road topology according to the numbering of node, determine the road of the most similar road in road position angle for travelling by the azimuth information that aspect sensor provides;

(6) judge: if Δ D ₀≤ E (it is poor to limit), then C is the vehicle location point, and record C is the road ID of current driving place road ID number; Otherwise, if Δ D ₀＞E, taking away initial point is that the vertical projection point that B is ordered is the vehicle location point on A point and the C point place straight line, writes down this place and is the road of current driving road ID number.

Said road eliminating is to be the standard round arc road in the center of circle with institute's cut-off angular coordinate point among the present invention, because this road is non-existent substantially in reality, can judge that thus rectangular coordinate point to the shortest vertical range on the road is well-determined, and to the nearest point of road (i.e. the joining of the shortest vertical line and road) also be well-determined.

Claims (2)

1. the realization method of vehicle location, it is characterized in that: comprise the following steps: a. Read the latitude and longitude data of the current location obtained by the GPS module in real time; b. Judging whether the latitude and longitude data obtained by the GPS module is abnormal, if yes, then execute step d, otherwise execute step c; c. Convert the latitude and longitude data into corresponding rectangular coordinates, load the valid data in the electronic map according to the rectangular coordinates, use the GPS and electronic map matching algorithm, and jump to step e; d. Convert the latitude and longitude data into corresponding Cartesian coordinates, load the valid data in the electronic map according to the Cartesian coordinates, and load the previous positioning coordinates, vehicle speed and steering information, and use the DR and electronic map matching algorithm; e. Locate the road where the vehicle is currently on and the specific location on the road; In the steps c and d, the method of loading valid data in the electronic map according to the Cartesian coordinates is: take the Cartesian coordinates as the center of the circle, select an appropriate radius to make a circle, and load the road data in the circle; In said step e, (1) for adopting GPS and electronic map matching algorithm, the method for positioning the road where the vehicle is currently located and the specific position on the road is: if the number of roads in the circle is one, it can be judged The vehicle is driving on this road; if there are more than one roads in the circle, then calculate the vertical distance from the center of the circle to each road, find the road with the shortest vertical distance, which is the current driving road of the vehicle, and then find out the distance from the center of the circle to the vehicle The shortest distance point of the current driving road is the specific position of the vehicle on the road; (2) for the DR and electronic map matching algorithm, the method of locating the road where the vehicle is currently located and the specific position on the road is: ①Take the positioning result A(X ₀ , Y ₀ ) of the previous GPS loss as the positioning starting position, and record the ID number of the driving road where it is located; ②According to the positioning sensor to obtain the driving distance information ΔS and angle information θ, the coordinate increment of the vehicle in the X and Y directions between two signal samplings can be obtained by the following formula

③Calculate the vehicle's current position coordinates B(X ₁ , Y ₁ ) by the following formula B(X ₁ , Y ₁ )=A(X ₀ , Y ₀ )+(ΔX, ΔY); ④ Search for the nearest point C(X ₂ , Y ₂ ) of B(X ₁ , Y ₁ ) on the current driving road, and calculate the distance ΔD ₀ between B and C; ⑤ Process road information: If point C is a road intersection or node, the connected road can be found through the road topology relationship according to the number of the node, and the road with the most similar azimuth angle is determined by the orientation information provided by the orientation sensor as the road to be the road traveled; ⑥ Judgment: If ΔD ₀ is less than or equal to the tolerance, then C is the vehicle positioning point, and record the ID number of the road where C is currently driving; otherwise, if ΔD ₀ is greater than the tolerance, take points A and C on the straight line , the vertical projection point of point B is the vehicle positioning point, and the ID number of the road where this point is recorded is the current road ID. 2. The method for realizing vehicle positioning according to claim 1, characterized in that: in the step b, the method for judging whether the latitude and longitude data acquired by the GPS module is abnormal is: if the position accuracy dilution value is greater than 6, then the latitude and longitude data are abnormal ;If the current latitude and longitude data is not within the theoretical range of the preset vehicle driving geographic area, the latitude and longitude data is abnormal; if the current vehicle speed exceeds the preset maximum vehicle speed or is less than the preset minimum vehicle speed , the latitude and longitude data is abnormal. the

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