CN107272034A - A kind of reverse car seeking alignment system and method - Google Patents

Abstract

The present invention relates to a reverse car-finding and positioning system and method. The reverse car-finding and positioning system includes a reference station, a mobile station, a server and an intelligent terminal; the reference station processes satellite signals to obtain satellite orbits and clock correction numbers, and Carrier phase smooth pseudo-range, generate differential correction number and correction number change rate and transmit to server for storage; mobile station processes satellite signal, generates first positioning data and transmits to server or combines first positioning data for vehicle positioning, and generates preliminary positioning data; the final positioning data is also transmitted to the smart terminal; the server pre-stores the positioning data, corrects the first positioning data or preliminary positioning data, and generates the final positioning data; the smart terminal displays the final positioning data. The invention can correct the positioning of the mobile station in real time, realize the high-precision positioning of the vehicle in real time, transmit the positioning signal to the intelligent terminal, and facilitate the reverse search for the vehicle by the user.

Description

System and method for reverse car search and positioning

technical field

The invention relates to the technical field of navigation, in particular to a system and method for reverse car search and positioning.

Background technique

With the development of human beings and the progress of society, people's social activities are increasing, and people's travel is increasingly inseparable from means of transportation, and more and more people have their own cars. Car owners tend to get lost in large parking lots and forget where they parked, so they can't find their vehicles quickly. This just brings very big inconvenience to people's life.

There are several intelligent systems that can realize reverse car search in the current parking lot. Some systems bind the RFID card with the vehicle, install sensors on the parking space, and realize the reverse direction by identifying the parking space information and combining the facilities of the parking lot. Car search; part of the system uses a large number of signal acquisition sensors to collect the behavior track of the vehicle, so as to determine the parking position and realize reverse car search. The disadvantages of these systems are: 1. A lot of equipment has been invested in the parking lot, such as wireless positioning equipment and RFID cards. These equipment need regular maintenance, and some equipment are large in size, high in power consumption, and high in cost. 2. The positioning accuracy of the vehicle is low, and the owner cannot realize the fast reverse search of the car through these methods, which wastes a certain amount of time; 3. It mainly relies on the parking lot equipment to realize the positioning of the vehicle, and cannot realize autonomous Positioning, in an emergency, the system may lose the function of positioning and finding cars.

In the prior art, the main technology is to use the wireless parking space detection card to detect whether there is a vehicle in the parking space, and to use the wireless vehicle identification card to detect the vehicle in the parking space and upload the information to the base station. Find available parking spaces and find out where your vehicle is parked.

In the prior art, by receiving the information of the wireless terminal of the vehicle sent by several wireless terminals and several wireless signal acquisition units, the behavior trajectory of the vehicle in the parking lot is formed, and the parking position is judged to realize reverse seeking. Vehicle positioning control.

In the prior art, by identifying the license plate number at the entrance of the parking lot, and then taking the parking card to enter, the data processing unit of the system binds the license plate number recognized by the license plate recognition unit with the parking card number read by the parking card reading unit , the communication unit transmits the information processed by the data processing unit to the control center, the control center stores the information, and then transmits the detection result of the parking space occupancy detection unit to the control center through the parking space information storage unit that stores the parking space number and the parking space position. Reverse car search through RFID positioning unit.

The three technical solutions mentioned above all require the parking lot to invest a large number of parking cards and establish its own control system, and also need to invest manpower and material resources for maintenance in the later stage, which has caused a certain economic burden on the parking lot. Aiming at these deficiencies, a new design idea is proposed and related positioning algorithms are improved, so that the device has the characteristics of high precision, low cost, small size, and low power consumption.

Contents of the invention

The purpose of the present invention is to provide a reverse car search and positioning system and method. The technical problem to be solved is: the parking lot needs to invest a large number of parking cards and establish its own control system, and it also needs to invest manpower and material resources for maintenance in the later stage. This has caused a certain economic burden on the parking lot.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a reverse car-finding and positioning system, comprising a reference station, a mobile station, a server and an intelligent terminal, (the reference station can be placed without specifying where), and the mobile station is placed On the vehicle, both the reference station and the mobile station are wirelessly connected to the server; the mobile station is wirelessly connected to the intelligent terminal;

The reference station is used to receive satellite signals, process satellite signals, obtain satellite orbit and clock error correction numbers, and generate differential correction numbers and correction number change rates through carrier phase smoothing pseudo-ranges, and transmit them to the server for storage;

The mobile station is used to receive satellite signals, process the satellite signals, generate first positioning data, transmit the first positioning data to the server or perform vehicle positioning in combination with the first positioning data, and generate preliminary positioning data to transmit to the server; Used to transmit the final positioning data to the smart terminal;

The server is used to pre-store the positioning data, correct the first positioning data or the preliminary positioning data according to the pre-stored positioning data, the differential correction number and the change rate of the correction number, and generate the final positioning data for transmission to the mobile station;

The smart terminal is used to display the final positioning data.

The beneficial effects of the present invention are: the reference station, the mobile station and the server coordinate operation, can correct the positioning of the mobile station in real time, realize the high-precision positioning of the vehicle in real time, and transmit the positioning signal to the intelligent terminal, which is convenient for the user to perform reverse search. car; and this system has the advantages of small size and low cost, and the system is simple to build and can be applied in various occasions.

On the basis of the above technical solutions, the present invention can also be improved as follows.

Further, the reference station includes a dual-mode receiver, a main control module and a communication module; the dual-mode receiver, the main control module and the communication module are connected in sequence, and the communication module is wirelessly connected to the server;

The dual-mode receiver is used to receive satellite signals through the antenna, and transmit the satellite signals to the main control module;

The main control module is used to perform carrier phase smoothing pseudo-range processing on satellite signals, calculate differential corrections and correction rate change rates, and transmit differential correction numbers and correction rate change rates to the server through the communication module for storage.

The beneficial effect of adopting the above-mentioned further scheme is: the differential correction number and the rate of change of the correction number are transmitted to the server for storage, which is convenient for the subsequent mobile station to read the differential correction number and the rate of change of the correction number, and the differential correction number and the rate of change of the correction number are used to compare the common Observation satellites eliminate public errors and improve positioning accuracy.

Further, the antenna is a quadruple helix antenna.

The beneficial effect of adopting the above-mentioned further scheme is that the sensitivity of the quadruple helix antenna is high, it is relatively easy to capture satellite signals at elevation angles, and the accuracy and real-time performance of positioning are improved.

Further, the mobile station includes an outdoor positioning module and an indoor positioning module, the outdoor positioning module is connected to the indoor positioning module; the outdoor positioning module and the indoor positioning module are placed on the vehicle; (directly speaking, the mobile station is placed on the vehicle or Can)

The outdoor positioning module is used to receive satellite signals through the antenna, process the satellite signals, and generate the first positioning data; obtain the number of satellites at the same time, and transmit the first positioning data to the server for processing when the number of satellites is greater than the set threshold ; When the number of satellites is less than the set threshold, transmit the first positioning data to the indoor positioning module;

The indoor positioning module is used to receive the first positioning data, collect heading angle data, acceleration data, geomagnetic data, air pressure data and image data at the same time, and convert the first positioning data, heading angle data, acceleration data, geomagnetic data, and air pressure data Comprehensive processing with image data, generating preliminary positioning data and transmitting it to the server for processing.

The beneficial effect of adopting the above-mentioned further scheme is: the difference correction number and the change rate of the correction number are obtained through the server, and the common error is eliminated for the common observation satellite through the difference matching algorithm. , the obtained first positioning data is transmitted to the server or the indoor positioning module;

The indoor positioning module performs integral positioning calculations on the collected heading angle data, acceleration data, and geomagnetic data, combines air pressure data, image data, and first positioning data, and then uses Kalman filter combined navigation to output positioning information to achieve high precision for vehicles positioning.

Further, the indoor positioning module includes a gyro sensor, an acceleration sensor, a geomagnetic sensor, a main control unit and a communication unit, and the gyro sensor, acceleration sensor, geomagnetic sensor and communication unit are all connected to the main control unit, and the The communication unit is wirelessly connected to the server;

The gyroscope sensor is used to collect heading angle data of the vehicle, and transmit the collected heading angle data to the main control unit;

The acceleration sensor is used to collect acceleration data of the vehicle, and transmit the collected acceleration data to the main control unit;

The geomagnetic sensor is used to collect geomagnetic data around the vehicle, and transmit the collected geomagnetic data to the main control unit;

The main control unit is used to perform an integral positioning operation on the heading angle data, acceleration data and geomagnetic data to obtain second positioning data for preliminary positioning.

The beneficial effects of adopting the above-mentioned further scheme are: the coordinated operation of the gyroscope sensor, the acceleration sensor and the geomagnetic sensor can collect heading angle data, acceleration data and geomagnetic data in real time, and the real-time and simple operation of the vehicle can be realized according to the heading angle data, acceleration data and geomagnetic data. position.

Further, the indoor positioning module also includes a barometer sensor and a camera;

The air pressure sensor is used to collect air pressure data around the vehicle, and transmit the collected air pressure data to the main control unit;

The camera is used to photograph the surroundings of the vehicle, generate image data, and transmit the image data to the main control unit; (these two are more suitable to be placed in the indoor positioning module)

The main control unit is used to process the first positioning data, the second positioning data, air pressure data and image data to obtain preliminary positioning data, and transmit the preliminary positioning data to the server through the communication unit.

The beneficial effect of adopting the above-mentioned further solution is: combining the first positioning data, the second positioning data, air pressure data and image data for processing, and performing data collection, analysis and processing from various aspects, and further improving the positioning accuracy.

Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a reverse car search positioning method, comprising the following steps:

Step S1. The reference station receives satellite signals, processes the satellite signals, generates differential correction numbers and correction number change rates, and transmits them to the server for storage;

Step S2. The mobile station receives satellite signals, processes the satellite signals, generates first positioning data, transmits the first positioning data to the server or performs vehicle positioning in combination with the first positioning data, generates preliminary positioning data and transmits it to the server;

Step S3. The server pre-stores the positioning data, corrects the first positioning data or the preliminary positioning data according to the pre-stored positioning data, the differential correction number and the change rate of the correction number, and generates final positioning data for transmission to the mobile station;

Step S4. The mobile station transmits the final positioning data to the smart terminal, and the smart terminal displays the final positioning data.

The beneficial effects of the present invention are: the reference station, the mobile station and the server coordinate operation, can correct the positioning of the mobile station in real time, realize the high-precision positioning of the vehicle in real time, and transmit the positioning signal to the intelligent terminal, which is convenient for the user to perform reverse search. car; and this system has the advantages of small size and low cost, and the system is simple to build and can be applied in various occasions.

Further, the step S1 specifically includes the following steps:

Step S11. The dual-mode receiver receives the satellite signal through the antenna, and transmits the satellite signal to the main control module;

Step S12. The main control module performs carrier phase smoothing pseudorange processing on the satellite signal, calculates the differential correction number and the correction number change rate; transmits the differential correction number and the correction number change rate to the server through the communication module for storage.

The beneficial effect of adopting the above-mentioned further scheme is: the differential correction number and the rate of change of the correction number are transmitted to the server for storage, which is convenient for the subsequent mobile station to read the differential correction number and the rate of change of the correction number, and the differential correction number and the rate of change of the correction number are used to compare the common Observation satellites eliminate public errors and improve positioning accuracy.

Further, the step S2 specifically includes the following steps:

Step S21. The outdoor positioning module receives satellite signals through the antenna, processes the satellite signals, and generates the first positioning data; simultaneously obtains the number of satellites, and when the number of satellites is greater than the set threshold, transmits the first positioning data to the server for processing; When the number of satellites is less than the set threshold, the first positioning data is transmitted to the indoor positioning module;

Step S22. The indoor positioning module receives the first positioning data, collects heading angle data, acceleration data, geomagnetic data, air pressure data, and image data at the same time, and combines the first positioning data, heading angle data, acceleration data, geomagnetic data, air pressure data, and image data The data is comprehensively processed, and preliminary positioning data is generated and transmitted to the server for processing.

The beneficial effect of adopting the above further solution is: the outdoor positioning module and the indoor positioning module operate in coordination; output positioning information to the intelligent terminal, and realize high-precision positioning of the vehicle.

Description of drawings

Fig. 1 is the module block diagram of a kind of reverse car search positioning system of the present invention;

Fig. 2 is the block diagram of reference station of the present invention;

Fig. 3 is a module block diagram of the mobile station of the present invention;

Fig. 4 is a module block diagram of the indoor positioning module of the present invention;

Fig. 5 is a flow chart of a reverse car search and positioning method according to the present invention.

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Reference station, 101, dual-mode receiver, 102, main control module, 103, communication module;

2. Mobile station, 210, outdoor positioning module, 220, indoor positioning module;

221. Gyro sensor, 222. Acceleration sensor, 223. Geomagnetic sensor, 224. Main control unit, 225. Communication unit, 226. Barometer sensor, 227. Camera;

3. Server, 4. Smart terminal.

detailed description

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

As shown in Figure 1, a kind of reverse car search positioning system comprises base station 1, mobile station 2, server 3 and intelligent terminal 4, and described mobile station 2 is placed on the vehicle, and described base station 1 and mobile station 2 All are wirelessly connected with the server 3; the mobile station 2 is wirelessly connected with the intelligent terminal 4;

The reference station 1 is used to receive satellite signals, process the satellite signals, obtain satellite orbit and clock error correction numbers, and generate differential correction numbers and correction number change rates through carrier phase smoothing pseudoranges and transmit them to the server 3 for storage;

The mobile station 2 is used to receive satellite signals, process the satellite signals, generate first positioning data, transmit the first positioning data to the server 3 or perform vehicle positioning in combination with the first positioning data, generate preliminary positioning data and transmit them to the server 3; It is also used to transmit the final positioning data to the smart terminal 4;

The server 3 is used to pre-store the positioning data, correct the first positioning data or the preliminary positioning data according to the pre-stored positioning data, the differential correction number and the rate of change of the correction number, and generate final positioning data for transmission to the mobile station 2;

The smart terminal 4 is used to display the final positioning data.

In the above-mentioned embodiment, the reference station 1, the mobile station 2 and the server 3 operate in coordination, and can correct the positioning of the mobile station 2 in real time, realize high-precision positioning of the vehicle in real time, and transmit the positioning signal to the intelligent terminal 4, which is convenient for the user to carry out Reverse car search; and this system has the advantages of small size and low cost, and the system is simple to build and can be applied in various occasions.

Optionally, as an embodiment of the present invention: as shown in FIG. 2 , the reference station 1 includes a dual-mode receiver 101, a main control module 102 and a communication module 103; the dual-mode receiver 101, the main control module 102 and the communication module 103 are connected sequentially, and the communication module 103 is wirelessly connected to the server 3;

The dual-mode receiver 101 is used to receive satellite signals through an antenna, and transmit the satellite signals to the main control module 102;

The main control module 102 is used to perform carrier phase smoothing pseudo-range processing on the satellite signal, calculate the differential correction number and the rate of change of the correction number; transmit the differential correction number and the rate of change of the correction number to the server 3 through the communication module 103 for storage.

In the above-mentioned embodiment, the main control module 102 reads the Beidou/GPS ephemeris data and observation data according to the satellite signal, and performs carrier phase detection and repair; obtains the satellite orbit and the clock correction number in real time through the intermittent RTPPP, and obtains the correction number of the satellite orbit and the clock difference through the inter-epoch difference The self-calibration model processes the satellite orbit and clock error corrections; then smoothes the pseudo-range observations through the carrier phase smoothing pseudo-range algorithm to eliminate pseudo-range noise;

The satellite position can be calculated from the ephemeris data. The coordinates of the reference station have been calibrated in advance, and the precise station-to-satellite distance can be calculated. According to the improved differential algorithm, the differential correction number can be calculated; because the size of the differential correction number will change with time. According to this situation, in addition to calculating the correction number, the reference station also calculates the rate of change of the correction number; transmits the differential correction number and the rate of change of the correction number to the server 3 for storage, so that the subsequent mobile station 2 can read the differential correction number and the rate of change of the correction number, Use the differential correction number and the change rate of the correction number to eliminate common errors for common observation satellites and improve the accuracy of positioning.

Optionally, as an embodiment of the present invention: the antenna is a quadruple helix antenna.

In the above embodiment, the quadruple-helix antenna has high sensitivity, and can relatively easily capture satellite signals at elevation angles, thereby improving the accuracy and real-time performance of positioning.

Optionally, as an embodiment of the present invention: as shown in FIG. 3 , the mobile station 2 includes an outdoor positioning module 210 and an indoor positioning module 220, and the outdoor positioning module 210 is connected to the indoor positioning module 220; The positioning module 210 and the indoor positioning module 220 are placed on the vehicle;

The outdoor positioning module 210 is used to receive satellite signals through the antenna, process the satellite signals, and generate first positioning data; obtain the number of satellites at the same time, and transmit the first positioning data to the server 3 when the number of satellites is greater than the set threshold Processing; when the number of satellites is less than the set threshold, the first positioning data is transmitted to the indoor positioning module 220;

The indoor positioning module 220 is used to receive the first positioning data, collect heading angle data, acceleration data, geomagnetic data, air pressure data and image data at the same time, and combine the first positioning data, heading angle data, acceleration data, geomagnetic data, air pressure data The data and image data are comprehensively processed, and preliminary positioning data is generated and transmitted to the server 3 for processing.

In the above embodiment, the outdoor positioning module 210 receives satellite signals, reads the Beidou/GPS ephemeris data and observation data according to the satellite signals, and performs carrier phase detection and repair; obtains satellite orbits and clock correction numbers in real time through intermittent RTPPP, and passes The inter-epoch differential self-calibration model processes the satellite orbit and clock error corrections; and then smooths the pseudo-range observations through the carrier phase smoothing pseudo-range algorithm to eliminate pseudo-range noise;

The difference correction number and the change rate of the correction number are obtained through the server 3, and the common error of the common observation satellite is eliminated through the difference matching algorithm. After the error correction of the pseudo-range observation, the positioning is solved according to the weighted least square method, and the first positioning data is transmitted to Server 3 or indoor positioning module 220;

The indoor positioning module 220 performs integral positioning calculations on the collected heading angle data, acceleration data, and geomagnetic data, combines air pressure data, image data, and first positioning data, and then combines navigation according to the Kalman filter to output positioning information to realize high-speed positioning of the vehicle. precision positioning.

Optionally, as an embodiment of the present invention: as shown in FIG. 4, the indoor positioning module 220 includes a gyroscope sensor 221, an acceleration sensor 222, a geomagnetic sensor 223, a main control unit 224, and a communication unit 225. The gyroscope The instrument sensor 221, the acceleration sensor 222, the geomagnetic sensor 223 and the communication unit 225 are all connected to the main control unit 224, and the communication unit 225 is wirelessly connected to the server 3;

The gyro sensor 221 is used to collect heading angle data of the vehicle, and transmit the collected heading angle data to the main control unit 224;

The acceleration sensor 222 is used to collect acceleration data of the vehicle, and transmit the collected acceleration data to the main control unit 224;

The geomagnetic sensor 223 is used to collect geomagnetic data around the vehicle, and transmit the collected geomagnetic data to the main control unit 224;

The main control unit 224 is used to perform an integral positioning operation on the heading angle data, acceleration data and geomagnetic data to obtain second positioning data for preliminary positioning.

In the above-mentioned embodiment, the gyro sensor 221, the acceleration sensor 222, and the geomagnetic sensor 223 operate in coordination, and can collect heading angle data, acceleration data, and geomagnetic data in real time, and realize simple real-time positioning of the vehicle according to the heading angle data, acceleration data, and geomagnetic data .

Optionally, as an embodiment of the present invention: the indoor positioning module 220 also includes a barometer sensor 226 and a camera 227;

The air pressure sensor 226 is used to collect air pressure data around the vehicle, and transmit the collected air pressure data to the main control unit 224;

The camera 227 is used to photograph the surroundings of the vehicle, generate image data, and transmit the image data to the main control unit 224;

The main control unit 224 is used to process the first positioning data, the second positioning data, air pressure data and image data to obtain preliminary positioning data, and transmit the preliminary positioning data to the server 3 through the communication unit 225 .

In the above embodiments, the first positioning data, the second positioning data, air pressure data and image data are combined for processing, and data collection, analysis and processing are performed from various aspects to further improve the positioning accuracy;

First positioning data.

Example 2:

As shown in Figure 5, a kind of reverse car search positioning method comprises the following steps:

Step S1. The reference station 1 receives satellite signals, processes the satellite signals, generates differential correction numbers and correction number change rates, and transmits them to the server 3 for storage;

Step S2. The mobile station 2 receives satellite signals, processes the satellite signals, generates first positioning data, transmits the first positioning data to the server 3 or performs vehicle positioning in combination with the first positioning data, generates preliminary positioning data and transmits them to the server 3;

Step S3. The server 3 pre-stores the positioning data, corrects the first positioning data or the preliminary positioning data according to the pre-stored positioning data, the differential correction number and the change rate of the correction number, and generates final positioning data for transmission to the mobile station 2;

Step S4. The mobile station 2 transmits the final positioning data to the smart terminal 4, and the smart terminal 4 displays the final positioning data.

In the above-mentioned embodiment, the reference station 1, the mobile station 2 and the server 3 operate in coordination, and can correct the positioning of the mobile station 2 in real time, realize high-precision positioning of the vehicle in real time, and transmit the positioning signal to the intelligent terminal 4, which is convenient for the user to carry out Reverse car search; and this system has the advantages of small size and low cost, and the system is simple to build and can be applied in various occasions.

Optionally, as an embodiment of the present invention: the step S1 specifically includes the following steps:

Step S11. The dual-mode receiver 101 receives satellite signals through the antenna, and transmits the satellite signals to the main control module 102;

Step S12. The main control module 102 performs carrier phase smoothing pseudorange processing on the satellite signal, calculates the differential correction number and the correction number change rate; transmits the differential correction number and the correction number change rate to the server 3 through the communication module 103 for storage.

In the above-mentioned embodiment, the main control module 102 reads the Beidou/GPS ephemeris data and observation data according to the satellite signal, and performs carrier phase detection and repair; obtains the satellite orbit and the clock correction number in real time through the intermittent RTPPP, and obtains the correction number of the satellite orbit and the clock difference through the inter-epoch difference The self-calibration model processes the satellite orbit and clock error corrections; then smoothes the pseudo-range observations through the carrier phase smoothing pseudo-range algorithm to eliminate pseudo-range noise;

The satellite position can be calculated from the ephemeris data. The coordinates of the reference station have been calibrated in advance, and the precise station-to-satellite distance can be calculated. According to the improved differential algorithm, the differential correction number can be calculated; because the size of the differential correction number will change with time. According to this situation, in addition to calculating the correction number, the reference station also calculates the rate of change of the correction number; transmits the differential correction number and the rate of change of the correction number to the server 3 for storage, so that the subsequent mobile station 2 can read the differential correction number and the rate of change of the correction number, Use the differential correction number and the change rate of the correction number to eliminate common errors for common observation satellites and improve the accuracy of positioning.

Optionally, as an embodiment of the present invention: the step S2 specifically includes the following steps:

Step S21. The outdoor positioning module 210 receives satellite signals through the antenna, processes the satellite signals, and generates first positioning data; obtains the number of satellites at the same time, and when the number of satellites is greater than the set threshold, transmits the first positioning data to the server 3 for processing ; When the number of satellites is less than the set threshold, transmit the first positioning data to the indoor positioning module 220;

Step S22. The indoor positioning module 220 receives the first positioning data, collects heading angle data, acceleration data, geomagnetic data, air pressure data and image data at the same time, and combines the first positioning data, heading angle data, acceleration data, geomagnetic data, air pressure data and The image data is comprehensively processed, and preliminary positioning data is generated and transmitted to the server 3 for processing.

In the above embodiment, the outdoor positioning module 210 receives satellite signals, reads the Beidou/GPS ephemeris data and observation data according to the satellite signals, and performs carrier phase detection and repair; obtains satellite orbits and clock correction numbers in real time through intermittent RTPPP, and passes The inter-epoch differential self-calibration model processes the satellite orbit and clock error corrections; and then smooths the pseudo-range observations through the carrier phase smoothing pseudo-range algorithm to eliminate pseudo-range noise;

The difference correction number and the change rate of the correction number are obtained through the server 3, and the common error of the common observation satellite is eliminated through the difference matching algorithm. After the error correction of the pseudo-range observation, the positioning is solved according to the weighted least square method, and the first positioning data is transmitted to Server 3 or indoor positioning module 220;

The indoor positioning module 220 performs integral positioning calculations on the collected heading angle data, acceleration data, and geomagnetic data, combines air pressure data, image data, and first positioning data, and then combines navigation according to the Kalman filter to output positioning information to realize high-speed positioning of the vehicle. precision positioning.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (9)

1. A reverse car search positioning system, characterized in that it comprises a base station (1), a mobile station (2), a server (3) and an intelligent terminal (4), and the mobile station (2) is placed on the vehicle , the reference station (1) and the mobile station (2) are wirelessly connected to the server (3); the mobile station (2) is wirelessly connected to the intelligent terminal (4); The reference station (1) is used to receive satellite signals, process the satellite signals, obtain satellite orbit and clock error correction numbers, smooth pseudo-ranges through carrier phase, generate differential correction numbers and correction number change rates, and transmit them to the server (3 ) for storage; The mobile station (2) is used to receive satellite signals, process the satellite signals, generate first positioning data, transmit the first positioning data to the server (3) or perform vehicle positioning in combination with the first positioning data, and generate a preliminary positioning The data is transmitted to the server (3); it is also used to transmit the final positioning data to the smart terminal (4); The server (3) is used for pre-storing positioning data, correcting the first positioning data or preliminary positioning data according to the pre-stored positioning data, differential correction numbers and correction number change rates, and generating final positioning data for transmission to the mobile station (2); The intelligent terminal (4) is used for displaying the final positioning data. 2. a kind of reverse car search positioning system according to claim 1, is characterized in that, described reference station (1) comprises dual-mode receiver (101), main control module (102) and communication module (103); The dual-mode receiver (101), the main control module (102) and the communication module (103) are sequentially connected, and the communication module (103) is wirelessly connected to the server (3); The dual-mode receiver (101) is used to receive satellite signals through an antenna, and transmit the satellite signals to the main control module (102); The main control module (102) is used to perform carrier phase smoothing pseudo-range processing on the satellite signal, calculate the differential correction number and the correction number change rate; transmit the differential correction number and the correction number change rate to the server through the communication module (103) (3) to store. 3. A reverse car search and positioning system according to claim 2, characterized in that the antenna is a quadruple helix antenna. 4. A reverse car search and positioning system according to any one of claims 1 to 3, characterized in that, said mobile station (2) comprises an outdoor positioning module (210) and an indoor positioning module (220), said The outdoor positioning module (210) is connected to the indoor positioning module (220); the outdoor positioning module (210) and the indoor positioning module (220) are placed on the vehicle; The outdoor positioning module (210) is used to receive satellite signals through the antenna, process the satellite signals, and generate the first positioning data; obtain the number of satellites at the same time, and when the number of satellites is greater than the set threshold, transmit the first positioning data to The server (3) performs processing; when the number of satellites is less than the set threshold, the first positioning data is transmitted to the indoor positioning module (220); The indoor positioning module (220) is used to receive the first positioning data, collect heading angle data, acceleration data, geomagnetic data, air pressure data, and image data at the same time, and convert the first positioning data, heading angle data, acceleration data, and geomagnetic data , air pressure data and image data are comprehensively processed, and preliminary positioning data is generated and transmitted to the server (3) for processing. 5. A reverse car search and positioning system according to claim 4, characterized in that, the indoor positioning module (220) includes a gyroscope sensor (221), an acceleration sensor (222), a geomagnetic sensor (223), a main A control unit (224) and a communication unit (225), the gyroscope sensor (221), the acceleration sensor (222), the geomagnetic sensor (223) and the communication unit (225) are all connected to the main control unit (224), The communication unit (225) is wirelessly connected to the server (3); The gyro sensor (221) is used to collect heading angle data of the vehicle, and transmit the collected heading angle data to the main control unit (224); The acceleration sensor (222) is used to collect acceleration data of the vehicle, and transmit the collected acceleration data to the main control unit (224); The geomagnetic sensor (223) is used to collect geomagnetic data around the vehicle, and transmit the collected geomagnetic data to the main control unit (224); The main control unit (224) is used for performing an integral positioning operation on the heading angle data, acceleration data and geomagnetic data to obtain second positioning data for preliminary positioning. 6. A kind of reverse car search positioning system according to claim 5, characterized in that, said indoor positioning module (220) also includes a barometer sensor (226) and a camera (227); The air pressure sensor (226) is used to collect air pressure data around the vehicle, and transmit the collected air pressure data to the main control unit (224); The camera (227) is used to photograph the surroundings of the vehicle, generate image data, and transmit the image data to the main control unit (224); The main control unit (224) is used to process the first positioning data, the second positioning data, air pressure data and image data to obtain preliminary positioning data, and transmit the preliminary positioning data to the server (3) through the communication unit (225). ). 7. A reverse car search positioning method is characterized in that, comprising the following steps: Step S1. The reference station (1) receives satellite signals, processes the satellite signals, generates differential correction numbers and correction number change rates, and transmits them to the server (3) for storage; Step S2. The mobile station (2) receives satellite signals, processes the satellite signals, generates first positioning data, transmits the first positioning data to the server (3) or performs vehicle positioning in combination with the first positioning data, and generates preliminary positioning data for transmission to server(3); Step S3. The server (3) pre-stores the positioning data, corrects the first positioning data or the preliminary positioning data according to the pre-stored positioning data, the differential correction number and the rate of change of the correction number, and generates final positioning data for transmission to the mobile station (2); Step S4. The mobile station (2) transmits the final positioning data to the smart terminal (4), and the smart terminal (4) displays the final positioning data. 8. A reverse car search and positioning method according to claim 7, characterized in that the step S1 specifically comprises the following steps: Step S11. The dual-mode receiver (101) receives satellite signals through the antenna, and transmits the satellite signals to the main control module (102); Step S12. The main control module (102) performs carrier phase smoothing pseudorange processing on the satellite signal, calculates the differential correction number and the rate of change of the correction number; transmits the differential correction number and the rate of change of the correction number to the server (3) through the communication module (103) ) for storage. 9. A reverse car search and positioning method according to claim 8, characterized in that, the step S2 specifically comprises the following steps: Step S21. The outdoor positioning module (210) receives satellite signals through the antenna, processes the satellite signals, and generates the first positioning data; simultaneously obtains the number of satellites, and when the number of satellites is greater than the set threshold, transmits the first positioning data to the server ( 3) processing; when the number of satellites is less than the set threshold, the first positioning data is transmitted to the indoor positioning module (220); Step S22. The indoor positioning module (220) receives the first positioning data, collects heading angle data, acceleration data, geomagnetic data, air pressure data and image data at the same time, and converts the first positioning data, heading angle data, acceleration data, geomagnetic data, air pressure The data and image data are comprehensively processed, and preliminary positioning data is generated and transmitted to the server (3) for processing.