CN104754729A - Navigation positioning method, device and system - Google Patents
Navigation positioning method, device and system Download PDFInfo
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- CN104754729A CN104754729A CN201310737715.0A CN201310737715A CN104754729A CN 104754729 A CN104754729 A CN 104754729A CN 201310737715 A CN201310737715 A CN 201310737715A CN 104754729 A CN104754729 A CN 104754729A
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- 238000006243 chemical reaction Methods 0.000 claims description 7
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- 230000005540 biological transmission Effects 0.000 abstract description 14
- 238000005516 engineering process Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000010295 mobile communication Methods 0.000 description 4
- 102100022717 Atypical chemokine receptor 1 Human genes 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 101000678879 Homo sapiens Atypical chemokine receptor 1 Proteins 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention provides a navigation positioning method, device and system. The method comprises the following steps: receiving navigation positioning information, and receiving real-time kinematic (RTK) data from a base station through a DSRC data link; calculating according to the navigation positioning information and the real-time kinematic data to obtain self-position of a vehicle navigation device. Through the adoption of the method, device and system provided by the invention, the real-time and high-precision broadcasting of RTK information can be realized, the transmission delay is low and the practicability is strong.
Description
Technical field
The present invention relates to onboard navigation system, particularly relate to a kind of navigation locating method, Apparatus and system.
Background technology
Obtain high-precision GPS measurement result and must adopt carrier phase observation data, real time dynamic differential (RTK, Real-time Kinematic) location technology is the one of GPS technology, it is the real time kinematic survey system based on carrier phase observation data, the three-dimensional localization result of survey station point in specified coordinate system can be provided in real time, and reach Centimeter Level precision.Under RTK work pattern, base station sends its measured value to rover station by Data-Link together with survey station coordinate information.Rover station is not received from the data of base station by means of only data link, also will gather GPS observation data, and in system, forms difference measured value process in real time, provides Centimeter Level positioning result simultaneously, lasts usually less than a second.
Location navigation signal ground strengthens the network that network is a kind of enhanced navigation signal based on RTK location technology.Existing ground strengthens network and mainly adopts the modes such as FM broadcast, GPRS/3G to position the transmission of control information, positions navigation effect fine in low speed environments.But in vehicle environment, because vehicle translational speed is high, FM broadcasting method propagation delay time is comparatively large, Doppler frequency shift is also comparatively large, and degree is not high in real time to cause location, navigates accurate not.And GPRS broadcasting method transmits real time dynamic differential (RTK) information as required, after user sends request, base station just sends information, is non real-time location, cannot be applied in vehicle mounted guidance.
Usually, by running continuously, satellite fix service colligate system (CORS, Continuous Operational Reference System) observation information of standing is transmitted, difference information wired network is distributed and difference information wireless network broadcasts three parts formations in the transmission of real time dynamic differential information.The observation information transmission of current C ORS station and the distribution of difference information wired network, primarily of trade Special Network and public network transmissions, also do not have the special transmission network for traffic transport industry application at present.Difference information wireless network is broadcast and One-to-All Broadcast formula and two-way communication type can be adopted to broadcast, and mainly in prior art adopts data radio station and based on communication network transmission such as GPRS/3G.
At present, can be used for the technical approach that difference information wireless network broadcasts to mainly contain: data radio station, FM frequency modulated subcarrier, VHF, WIFI, 2G/3G mobile radio communication etc., these modes respectively have superiority and inferior position.
Wherein, data radio station is most widely used in local area DGPS.It has the advantages such as use cost is low, convenient for installation and maintenance, relatively independent, data delay is little; but limited coverage area; general within tens kilometers; channel is not protected; easily be disturbed; and propagation delay time is large, be not suitable on a large scale, on a large scale, the high-precision applications service of the traffic transport industry of high real-time.
Transmission system based on FM frequency modulated subcarrier mainly contains three kinds: Japanese DARC system, U.S. Seiko HSDS system, Chinese FMHDS system.The traffic rate of this several mode, all at more than 16Kbps, can meet the demand of difference information transmission.Supreme row data transmission system has broad covered area, and system data transmission is not by terminal quantity restriction feature.Current domestic application FM DARC system provides Real-time Traffic Information service, has covered nearly 30 cities, but its time delay under high-speed mobile environment is slightly large.
GSM and 3G mobile communications network is current application difference information transmission means the most widely.Along with the reduction of the expansion of mobile communications network coverage, the raising of data bandwidth and communication cost, the ability of carrying difference information transport service and position message business also progressively improves.But due to the business that difference information is " point-to-area " character, and mobile communication network technology system is for " point-to-point " service design, this is brought certain problem in the traffic transport industry high-precision applications promoted based on difference on a large scale.First being that differential data time delay can not ensure, is secondly that a large number of users occupies channel in real time, affects other business of mobile communication.
By upper, current RTK information broadcast Technology Restriction in the defect of various wireless communication link itself, in actual applications also have a lot of weak point.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of navigation locating method, Apparatus and system, and real-time, the high accuracy that can realize RTK information are broadcast, and propagation delay time is low, practical.
For solving the problems of the technologies described above, the invention provides a kind of navigation locating method, for automobile navigation, comprising:
Receive navigator fix information, and receive real time dynamic differential data by DSRC data link from base station;
The position of this on-vehicle navigation apparatus self is obtained according to this navigator fix information and the clearing of real time dynamic differential data.
According to one embodiment of present invention, described real time dynamic differential data are received by the Traffic Channel of this DSRC data link from this base station.
According to one embodiment of present invention, described real time dynamic differential data are obtained by the position calculation of described base station in conjunction with described navigator fix information and this base station self, and are broadcast away in a broadcast manner by described DSRC data link.
According to one embodiment of present invention, described base station is before broadcasting described real time dynamic differential data by this DSRC data link, and the method also comprises: carry out format conversion to described real time dynamic differential data.
According to one embodiment of present invention, described real time dynamic differential data are converted into RTCM message format.
Present invention also offers a kind of navigation positional device, comprising:
Receiver on-board, for receiving described navigator fix information, and receives real time dynamic differential data by DSRC data link from base station;
Location Calculation module, for obtaining the position of this on-vehicle navigation apparatus self according to this navigator fix information and the clearing of real time dynamic differential data.
According to one embodiment of present invention, described receiver on-board receives described real time dynamic differential data by the Traffic Channel of this DSRC data link from this base station.
Present invention also offers a kind of navigation positioning system, comprising:
Navigation positional device described in above-mentioned any one;
By the base station that DSRC data link is coupled with described navigation positional device, this base station comprises:
Reference receiver, receives described navigator fix information, and the position calculation in conjunction with this base station self obtains described real time dynamic differential data;
Described real time dynamic differential data are broadcast away by described DSRC data link by base station transmitter in a broadcast manner.
According to one embodiment of present invention, described base station also comprises: format converting module, carries out format conversion and transfer to described base station transmitter broadcasting described real time dynamic differential data.
According to one embodiment of present invention, described real time dynamic differential data are converted to RTCM message format by described format converting module.
Compared with prior art, the present invention has the following advantages:
In the navigation locating method of the embodiment of the present invention, base station broadcasts RTK data by DSRC data link, DSRC data link can provide reliably real-time transfer of data, propagation delay time is low, as long as just can automatic reception RTK data locate with auxiliary enhancing in the DSRC coverage that vehicle enters base station, make vehicle continuous reception RTK data, ensure the continuity of location.Special in vehicle close quarters, adopt DSRC data link to broadcast RTK data, compared with the mode such as FM, 3G, GPRS, there is clear superiority.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the navigation locating method of the embodiment of the present invention;
Fig. 2 is the structured flowchart of the navigation positioning system of the embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, the invention will be further described, but should not limit the scope of the invention with this.
With reference to figure 1, the navigation locating method of the present embodiment comprises the steps:
Step S11, receives navigator fix information, and receives real time dynamic differential data by DSRC data link from base station;
Step S12, obtains the position of this on-vehicle navigation apparatus self according to this navigator fix information and the clearing of real time dynamic differential data.
This navigation locating method may be used for in-vehicle navigation apparatus, such as, position vehicle in vehicle travel process and navigate.Private radio junction service (DSRC) is traffic Dedicated Short Range Communications, technology, can provide reliably real-time transfer of data within the scope of about 1500 meters.In navigation locating method of the present invention, base station broadcasts real time dynamic differential (RTK) data by DSRC, as long as vehicle enters in the broadcasting area of base station, just can receive these RTK data.
Furthermore, in step S11, the navigator fix information received can be the BD signal that the gps signal that sends of global positioning system (GPS) or triones navigation system send.
DSRC mainly based on 802.11p, is divided into 7 channels in physical layer, and CH178 channel is wherein control channel, and the information of its all regarding safety is all broadcast.Wherein CH174, CH176, CH180 and CH182 channel is Traffic Channel, and Traffic Channel can carry out data transmit-receive as other data link.In the present embodiment, the Traffic Channel of DSRC can be utilized to send and receive RTK data.
More specifically, base station can receive navigator fix information, such as gps signal or BD signal, then in conjunction with self accurately positional information calculation obtain RTK data, then these RTK data are broadcasted away by DSRC data link.
As a nonrestrictive example, base station first can carry out format conversion to RTK data, preferably be converted to the international ocean shipping cause radiotechnics committee (RTCM) message format, then be, after 802.11p Frame, broadcasted away the RTK data secondary encapsulation of RTCM message format by the Traffic Channel of DSRC data link.The cycle of broadcasting such as can be less than 1 second.
Vehicle when receiving navigator fix information, such as, receives gps signal or BD signal, can receive the RTK data that base station is sended over by DSRC data link simultaneously, after clearing, then obtains vehicle self accurate location current, to realize precision navigation.
With reference to figure 2, the navigation positioning system of the present embodiment mainly comprises the base station 21 and navigation positional device 22 that intercouple.Wherein, base station 21 can comprise reference receiver 211, format converting module 212, base station transmitter 213 and antenna 210.Navigation positional device 22 mainly comprises antenna 220, receiver on-board 221, location Calculation module 222, navigation software 225.
Furthermore, reference receiver 211 can receive navigator fix information, such as, can be GPS/BD signal 21, and in conjunction with the position calculation RTK data of base station 21 self, the position of this base station 21 self such as can be stored in base station information 215.Format converting module 212 can do format conversion to RTK data, such as, be converted to RTCM message format, then transfers to base station transmitter 213 to broadcast away.RTK data broadcast after format transformation can be sent by DSRC data link by base station transmitter 213, such as, can be launched by antenna 210, and the channel of transmission can be the Traffic Channel of DSRC.
Navigation positional device 22 can receive RTK data via antenna 220.Such as, when vehicle enters in the broadcasting area of base station 21, the navigation positional device 22 be arranged on vehicle can receive the RTK data of broadcast by antenna 220.Receiver on-board 221 receives navigator fix information, such as GPS/BD signal 224, and utilizes antenna 220 to receive RTK data by DSRC data link from base station 21, and the channel of reception can be the Traffic Channel of DSRC.In a nonrestrictive example, receiver on-board 221 can work according to the receiver parameters 223 preset.
Location Calculation module 222 is for obtaining the position of this on-vehicle navigation apparatus 22 self according to this navigator fix information and the clearing of RTK data.The computational methods of location Calculation module 222 such as can comprise: solution asks the real-time baseline between 2; Solution asks the real-time coordinates of vehicle; Coordinate Conversion height fitting, to obtain three-dimensional vehicle coordinate.
After the position of vehicle is determined in calculating, position coordinates can be sent to navigation software 225 and navigate.
About more details of this navigation positioning system, refer to the associated description about navigation locating method in previous embodiment, repeat no more here.
By upper, the navigation locating method of the present embodiment and system utilize DSRC data link to send and receive RTK data, and transmission delay is little, practical.And DSRC can make vehicle receive RTK data always, ensure location continuity, locate with auxiliary enhancing with regard to automatic reception RTK data when vehicle enters in DSRC coverage.Particularly at vehicle close quarters, adopt DSRC broadcast TRK data to compare the methods such as FM, 3G, GPRS and there is clear superiority.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible variation and amendment, the scope that therefore protection scope of the present invention should define with the claims in the present invention is as the criterion.
Claims (10)
1. a navigation locating method, for automobile navigation, is characterized in that, comprising:
Receive navigator fix information, and receive real time dynamic differential data by DSRC data link from base station;
The position of this on-vehicle navigation apparatus self is obtained according to this navigator fix information and the clearing of real time dynamic differential data.
2. navigation locating method according to claim 1, is characterized in that, receives described real time dynamic differential data by the Traffic Channel of this DSRC data link from this base station.
3. navigation locating method according to claim 1, it is characterized in that, described real time dynamic differential data are obtained by the position calculation of described base station in conjunction with described navigator fix information and this base station self, and are broadcast away in a broadcast manner by described DSRC data link.
4. navigation locating method according to claim 3, is characterized in that, described base station, before broadcasting described real time dynamic differential data by this DSRC data link, also comprises: carry out format conversion to described real time dynamic differential data.
5. navigation locating method according to claim 4, is characterized in that, described real time dynamic differential data are converted into RTCM message format.
6. a navigation positional device, is characterized in that, comprising:
Receiver on-board, for receiving described navigator fix information, and receives real time dynamic differential data by DSRC data link from base station;
Location Calculation module, for obtaining the position of this on-vehicle navigation apparatus self according to this navigator fix information and the clearing of real time dynamic differential data.
7. navigation positional device according to claim 6, is characterized in that, described receiver on-board receives described real time dynamic differential data by the Traffic Channel of this DSRC data link from this base station.
8. a navigation positioning system, is characterized in that, comprising:
Navigation positional device described in claim 6 or 7;
By the base station that DSRC data link is coupled with described navigation positional device, this base station comprises:
Reference receiver, receives described navigator fix information, and the position calculation in conjunction with this base station self obtains described real time dynamic differential data;
Described real time dynamic differential data are broadcast away by described DSRC data link by base station transmitter in a broadcast manner.
9. navigation positioning system according to claim 8, is characterized in that, described base station also comprises:
Format converting module, carries out format conversion to described real time dynamic differential data and transfers to described base station transmitter broadcasting.
10. navigation positioning system according to claim 9, is characterized in that, described real time dynamic differential data are converted to RTCM message format by described format converting module.
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| CN201310737715.0A CN104754729A (en) | 2013-12-27 | 2013-12-27 | Navigation positioning method, device and system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093983A (en) * | 2016-06-12 | 2016-11-09 | 李丹 | A kind of many rotor wing unmanned aerial vehicles navigation positioning system |
| CN106405577A (en) * | 2016-09-28 | 2017-02-15 | 北京中交创新投资发展有限公司 | RTCM message conversion method and device |
| CN106912076A (en) * | 2017-03-27 | 2017-06-30 | 千寻位置网络有限公司 | A kind of many application differential data broadcasting systems in multiple terminals and method |
| CN108347696A (en) * | 2018-01-02 | 2018-07-31 | 千寻位置网络有限公司 | Data capture method and device, verification system are broadcast based on scene |
| CN108983263A (en) * | 2018-07-16 | 2018-12-11 | 北京星云互联科技有限公司 | A kind of differential position system and method based on bus or train route cooperative system |
| CN109102695A (en) * | 2018-09-30 | 2018-12-28 | 广东利通科技投资有限公司 | Intelligent transportation service station, intelligent transportation method of servicing and system |
| WO2019062030A1 (en) * | 2017-09-26 | 2019-04-04 | 东南大学 | Star network-based bds/gps broadcast network rtk algorithm |
| CN110072187A (en) * | 2019-04-19 | 2019-07-30 | 深圳思凯微电子有限公司 | Distribution, method of reseptance and the device of differential data |
| CN111289841A (en) * | 2020-03-23 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Method and system for detecting and positioning corrosion of grounding grid |
| WO2020134015A1 (en) * | 2018-12-29 | 2020-07-02 | 中国银联股份有限公司 | 5g-based positioning method and 5g-based positioning system |
| WO2021226986A1 (en) * | 2020-05-15 | 2021-11-18 | 华为技术有限公司 | Positioning method, positioning chip, and terminal device |
| CN114485644A (en) * | 2022-01-26 | 2022-05-13 | 中国第一汽车股份有限公司 | Navigation module and car |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093983A (en) * | 2016-06-12 | 2016-11-09 | 李丹 | A kind of many rotor wing unmanned aerial vehicles navigation positioning system |
| CN106405577A (en) * | 2016-09-28 | 2017-02-15 | 北京中交创新投资发展有限公司 | RTCM message conversion method and device |
| CN106405577B (en) * | 2016-09-28 | 2019-02-22 | 北京中交创新投资发展有限公司 | A kind of RTCM text conversion method and device |
| CN106912076B (en) * | 2017-03-27 | 2019-05-07 | 千寻位置网络有限公司 | Differential data broadcasting system and method are applied in a kind of multiple terminals more |
| CN106912076A (en) * | 2017-03-27 | 2017-06-30 | 千寻位置网络有限公司 | A kind of many application differential data broadcasting systems in multiple terminals and method |
| WO2019062030A1 (en) * | 2017-09-26 | 2019-04-04 | 东南大学 | Star network-based bds/gps broadcast network rtk algorithm |
| CN108347696A (en) * | 2018-01-02 | 2018-07-31 | 千寻位置网络有限公司 | Data capture method and device, verification system are broadcast based on scene |
| CN108347696B (en) * | 2018-01-02 | 2021-02-19 | 千寻位置网络有限公司 | Scene-based broadcast data acquisition method and device and verification system |
| CN108983263A (en) * | 2018-07-16 | 2018-12-11 | 北京星云互联科技有限公司 | A kind of differential position system and method based on bus or train route cooperative system |
| CN109102695B (en) * | 2018-09-30 | 2020-03-27 | 广东利通科技投资有限公司 | Intelligent traffic service station, intelligent traffic service method and system |
| CN109102695A (en) * | 2018-09-30 | 2018-12-28 | 广东利通科技投资有限公司 | Intelligent transportation service station, intelligent transportation method of servicing and system |
| WO2020134015A1 (en) * | 2018-12-29 | 2020-07-02 | 中国银联股份有限公司 | 5g-based positioning method and 5g-based positioning system |
| US11474187B2 (en) | 2018-12-29 | 2022-10-18 | China Unionpay Co., Ltd. | Positioning method based on 5G and positioning system based on 5G |
| CN110072187A (en) * | 2019-04-19 | 2019-07-30 | 深圳思凯微电子有限公司 | Distribution, method of reseptance and the device of differential data |
| CN111289841A (en) * | 2020-03-23 | 2020-06-16 | 云南电网有限责任公司电力科学研究院 | Method and system for detecting and positioning corrosion of grounding grid |
| WO2021226986A1 (en) * | 2020-05-15 | 2021-11-18 | 华为技术有限公司 | Positioning method, positioning chip, and terminal device |
| CN115380224A (en) * | 2020-05-15 | 2022-11-22 | 华为技术有限公司 | Positioning method, positioning chip and terminal equipment |
| CN114485644A (en) * | 2022-01-26 | 2022-05-13 | 中国第一汽车股份有限公司 | Navigation module and car |
| CN114485644B (en) * | 2022-01-26 | 2024-03-26 | 中国第一汽车股份有限公司 | Navigation module and car |
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