CN108802777B - Vehicle-mounted command control method based on Beidou - Google Patents
Vehicle-mounted command control method based on Beidou Download PDFInfo
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- CN108802777B CN108802777B CN201810602221.4A CN201810602221A CN108802777B CN 108802777 B CN108802777 B CN 108802777B CN 201810602221 A CN201810602221 A CN 201810602221A CN 108802777 B CN108802777 B CN 108802777B
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- 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]
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/08—Trunked mobile radio systems
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Abstract
The invention relates to a vehicle-mounted command control method based on Beidou, which comprises the following steps: and establishing a cluster relation and a membership relation of Beidou users in the vehicle-mounted command control system, wherein the membership relation comprises a multi-level nested membership relation, and the command users issue command commands to subordinate users through the membership relation to monitor the states of the subordinate users. The invention realizes the nesting among the cluster users, thereby realizing a tree-shaped cluster management network and realizing the cluster relation and the membership relation of multilevel nesting; finally, the vehicle-mounted command control system carries out hierarchical division and complete system integration on the separated information and communication resources of various vehicles and individual soldiers, and the general command center carries out unified command scheduling and control on the cluster target.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a vehicle-mounted command control method based on Beidou.
Background
The vehicle-mounted command control system is mainly composed of a positioning subsystem, an information receiving and transmitting subsystem, a communication subsystem and an information processing and displaying subsystem and is used for realizing vehicle automatic command control. The satellite positioning system carries out positioning through a satellite, uses satellite communication to uninterruptedly transmit communication data, displays the data on a terminal display screen, and can be used by a command control terminal or monitored by a remote command center. In the current domestic vehicle-mounted command control system, a Beidou satellite navigation system is initially applied, and basically realizes the functions of position acquisition and short message communication, but the functions are usually realized independently, and the core functions of the command control system are in the aspects of data association and interface operation, so that the problems that data needs to be repeatedly input, data display cannot be uniformly displayed, the types of transmitted data are few, the monitoring control function is weak and the like exist. Along with the establishment and the use of the second Beidou, the functions of the vehicle-mounted command control system based on the Beidou are urgently needed to be improved, and the problems that the integration level of the current vehicle-mounted command control system is not high, and the remote cooperative work and command scheduling cannot be realized are solved.
Disclosure of Invention
In view of the analysis, the invention aims to provide a vehicle-mounted command control method based on Beidou, and solves the problems that the existing vehicle-mounted command control system is low in integration level and cannot carry out long-distance cooperative work and command scheduling.
The purpose of the invention is mainly realized by the following technical scheme:
a vehicle-mounted command control method based on Beidou comprises the following steps:
establishing a cluster relationship and a membership relationship of Beidou users in a vehicle-mounted command control system; each cluster comprises a command user and a plurality of ordinary users, and the command users and the ordinary users in the clusters establish direct membership;
the system comprises a multilayer nested cluster relation and a membership relation, wherein in the multilayer nested cluster relation and the membership relation, a topmost cluster comprises a master command center and a plurality of middle-layer command users and/or common subordinate users; each middle layer commanding user and a plurality of other middle layer commanding users and/or common subordinate users outside the topmost layer cluster form a next layer cluster, and a multilayer nested cluster relation is formed downwards in sequence; the membership relationship established among the multilayer clusters is an indirect membership relationship;
the command user issues a command to subordinate users in the cluster and monitors the states of the subordinate users;
subordinate users in the cluster execute received command instructions sent by command users and feed back command execution conditions and self states;
and the command user sends broadcast information to subordinate users in the direct membership.
Further, the total command user calculates error correction numbers of Beidou positioning and sends the error correction numbers to all subordinate users for position correction of the subordinate users.
Further, the error correction number is obtained by carrying out differential processing on the accurate coordinates of the master command center and the Beidou positioning observation value.
Further, the broadcast ID of the command user corresponds to the user ID one to one, the user ID represents that the user type is a command user or a common user, and the broadcast ID is used for commanding the user to send broadcast information to subordinate users of the cluster.
Further, the user ID of the subordinate user is injected into the IC card subordinate user parameter area of the commanding user of the cluster to which the subordinate user belongs, and the broadcast ID of the commanding user of the cluster to which the subordinate user belongs is injected into the IC card broadcast ID parameter storage location of the subordinate user.
Through the setting of the broadcast ID and the user ID of the command user and the subordinate users of the cluster, the command control of the command user on the subordinate users of the cluster is realized.
Further, in the multilevel nested cluster relationship and the membership relationship, on one hand, the system injects the user ID of the middle-level command user into the subordinate user parameter area of the command user IC card in the cluster as the subordinate user to realize monitoring and receiving of the outbound information of the command user, on the other hand, the system injects the broadcast ID of the command user in the cluster as the broadcast ID of the subordinate user into the subordinate user parameter area of the subordinate command user IC card, and the broadcast ID of the command user in the cluster is used as a virtual subordinate user ID of the subordinate command user to monitor and receive the broadcast information.
Further, in the multi-level nested cluster relationship and the membership relationship, the master command user is a master command center, and the master command center sends a command to monitor the state of the subordinate user.
Furthermore, the general command center is provided with a Beidou command type user machine, a Beidou antenna of the general command center is erected on a known point of geodetic coordinates, Beidou navigation information is received, the accurate coordinates of the general command center and an observed value are compared through differential processing to eliminate errors and obtain a corrected number, and the corrected number is broadcasted to subordinate users in real time through the command type Beidou user machine according to a preset address.
The general command center arranged at a known point of geodetic coordinates is adopted, so that the positioning accuracy of subordinate users is higher, and the accurate command is facilitated.
Further, in the multilayer nested cluster relation and the membership relation, the middle-layer commanding user is a mobile commanding car and is equipped with a Beidou commanding type user machine.
Further, the command is a formatted phrase command.
And adopting a formatted phrase command to realize the standardized command scheduling and control of the cluster target.
The invention has the following beneficial effects:
the invention establishes a multilayer nested cluster relation and a membership relation, thereby realizing that a higher commanding user manages a plurality of lower commanding users and common users, the lower commanding user then commands a plurality of lower commanding users and common users, and the rest is in turn in the way of forming a tree-shaped cluster management network, and realizing the multilayer nested cluster relation and the membership relation; finally, the vehicle-mounted command control system carries out hierarchical division and complete system integration on the information and communication resources of various separated vehicles and individual soldiers, the general command center carries out unified command scheduling and control on the cluster target, and a step-by-step downward Beidou differential positioning mode is adopted, so that the Beidou positioning accuracy of subordinate users is improved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a command control method according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The embodiment discloses a vehicle-mounted command control method based on Beidou, which comprises the following steps of:
s1, establishing a cluster relationship and a membership relationship of Beidou users in the vehicle-mounted command control system; the cluster comprises command users and common users, and the command users and the common users in the cluster establish direct membership;
in the vehicle-mounted command control system, a cluster is established according to a command control relation, users are classified in the cluster, and a subordinate membership relation between a command and a subordinate is established;
the commanding user is equipped with a Beidou commanding type user machine, and the subordinate user can be equipped with a Beidou commanding type user machine or a Beidou basic type user machine (a common Beidou user machine).
If the cluster relation and the membership hierarchy only has one layer of command and membership, namely, one command user and a plurality of subordinate users form a cluster, the command user in the system is used as a command cluster, the subordinate users are a plurality of non-subordinated dispersed clusters, and one-to-many command relations are established.
If the hierarchy of the membership relation exceeds one layer, establishing a multilayer nested cluster relation and the membership relation, and dividing the user into a master command user, a middle layer command user and a subordinate user; the general command user and several middle layer command users and/or subordinate users build direct subordination relationship to form a cluster, each middle layer command user and several middle layer command users and/or subordinate users directly subordinating to it form next layer cluster, and form multi-layer nested cluster relationship to form tree-shaped cluster management network. The subordination relation established in the cluster is a direct subordination relation, and the subordination relation established among the multi-layer clusters is an indirect subordination relation; in the cluster, the middle layer commanding user as the subordinate user receives the command of the commanding user affiliated to the middle layer cluster in the cluster of the current layer, and the middle layer commanding user as the subordinate user commands the subordinate user affiliated to the middle layer cluster in the cluster of the next layer.
Specifically, all have the IC card of storage big dipper subscriber computer working parameter in the big dipper subscriber computer of above-mentioned all kinds. When Beidou subscriber machines of different types of users perform network access registration, specific user IDs (namely local address codes) and broadcast IDs (namely broadcast address codes) are distributed and injected into the Beidou subscriber machine IC card by a network access registration system to determine the Beidou membership of the users.
The Beidou command type user machine of the command user equipment has the advantages that the broadcast IDs distributed during registration correspond to the user IDs one by one, and the broadcast IDs are specially used for commanding the users to send broadcast information to subordinate users of the cluster. The command broadcast IDs corresponding to each cluster are different, so that the command disorder condition is avoided;
the Beidou commanding type user machine provided with the commanding user equipment at the middle layer has the advantages that on one hand, the system injects the user ID of the commanding user at the middle layer into the subordinate user parameter area of the Beidou user machine IC card of the commanding user affiliated to the commanding user to realize the monitoring and receiving of the outbound information of the commanding user in the affiliation, on the other hand, the broadcasting ID of the commanding user affiliated to the commanding user is used as a virtual subordinate broadcasting ID of the cluster user of the next layer of affiliation of the commanding user, and is injected into the subordinate user parameter area of all user IC cards of the next layer of affiliation; here, the next-level membership refers to a subordinate membership of a cluster in which the user is a command user;
when the middle layer command user sends the broadcast information to the subordinate users of the cross-layer cluster, the subordinate command users receive the broadcast information through the virtual subordinate broadcast ID in the middle layer command user IC card.
The subordinate user equipped with the Beidou basic type user machine does not have a command function, when registering, the system distributes a user ID, the user ID is injected into a subordinate user parameter area of an IC card of the Beidou user machine of a cluster command user to which the user belongs, and when commanding, the command user can monitor and receive all outbound information of the user, so that the state of the user can be conveniently known; the system injects the broadcast ID of the affiliated command user into the broadcast ID parameter storage position of the IC card of the subordinate user as the broadcast ID, and the subordinate user can receive broadcast information sent by the cluster command user through the broadcast ID during command.
Through the multi-level nested cluster relation and the membership relation, all Beidou users in the system are set according to the command cluster membership nested relation, are grouped in groups in a team, and bind required addresses in required Beidou user machines to complete the network access registration of the Beidou user machines.
Step S2, the command user issues command and local position information to the subordinate users of the cluster, and monitors the state of the subordinate users;
according to the established cluster relation and membership relation, commanding users to send instructions and self positioning positions to the Beidou machines of the subordinate users in the clusters through the Beidou commanding type user machines of the users according to the broadcast IDs of the users and the ID information of the subordinate users stored in the parameter areas of the subordinate users of the IC cards, and monitoring the states of the subordinate users;
the general command center is a core brain and a background of a command system, and carries out command scheduling on the subordinate users in the cluster in real time by broadcasting communication messages and issuing command commands through the broadcasting ID of the Beidou command type user machine and the ID information of the subordinate users stored in the subordinate user parameter area of an IC card of the Beidou command type user machine, wherein the command commands can be formatted phrase commands; collecting information including the position and the speed of the subordinate user by monitoring the positioning result and the communication text of the subordinate user; the master command center observes the layout of subordinate users through a master command operation interface, displays the returned field command scheduling condition in real time and is in real-time butt joint with an internal database; subordinate users of the general command center comprise a mobile command vehicle including a middle-layer command type user machine, a vehicle and an individual soldier equipped with a Beidou basic type user machine and the like.
The general command center is as the reference station, and its big dipper antenna frame is established on the known point of geodetic coordinate, receives big dipper navigation information, for improving positioning accuracy, through differential processing, compares the accurate coordinate of general command center with the observed value, eliminates most errors to reach error correction number and broadcast and issue the command to the user according to the address of presetting for the big dipper commander type user machine in real time.
In the multilayer nested membership, the middle layer command user is provided with a Beidou command type user machine, the middle layer command user broadcasts a communication message in real time and issues command commands to subordinate users in a cluster where the middle layer command user is located for command scheduling according to the broadcast ID of the middle layer command user and the ID information of the subordinate users stored in the IC card subordinate user parameter area of the middle layer command user, and the command commands can be formatted phrase commands; and can monitor the positioning result and communication text of subordinate users and collect information including the positions and speeds of the subordinate users.
Specifically, the subordinate user who belongs to the command user can receive the broadcast information of the command user through the broadcast ID which is stored in the IC card user parameter area and is the same as the command user.
Step S3, the subordinate users in the cluster execute the received command instructions sent by the command users, and feedback the command execution conditions and the self states;
the subordinate user uses the general command center as the reference station information to perform differential positioning with the positioning information of the subordinate user to obtain the position information of the user, and replies an execution result and the position information to the Beidou command type user machine through the Beidou data link;
1) specifically, in the multi-level nested cluster relationship and the membership relationship, the subordinate user is a middle-level command user, and is used as the subordinate user in the membership relationship to execute a subordinate function and also used as the command user to realize a command function on the subordinate user in the next-level membership relationship.
The middle layer commanding user is used as a subordinate user in the subordination relationship, after receiving a command of the commanding user in the subordination relationship, the command is displayed on a command control operation interface, the command is executed through a local command control system, and the local Beidou user terminal carries out differential positioning on the received error correction number calculated by the total command center and the positioning information of the local Beidou user terminal; the command execution condition and the position information are replied to the superior command type user through the Beidou data link;
meanwhile, the middle layer command user is used as a command user in the membership relationship to send command instructions to subordinate users who belong to the command user, and monitors the state of the subordinate users;
particularly, according to the command of the command user in the direct membership, the command user can monitor the commands or information mutually sent among the lower-level users and upload the state information of all the lower-level users to the Beidou command machine of the upper-level command user.
Specifically, the middle-layer commanding user is a mobile commanding car, the mobile commanding car receives the Beidou satellite navigation information and the reference station differential information of the mobile commanding car, the position and the speed of the mobile commanding car are accurately measured, meanwhile, the navigation positioning information (including the position, the speed and the like) of the subordinate Beidou user machine is monitored and displayed, controlled, commanded and dispatched on the vehicle commanding and controlling system, the positioning monitoring of the subordinate users (vehicles, individual soldiers and the like) is achieved, and the result is transmitted to a main commanding center through a Beidou data link so as to be processed and monitored in real time. The mobile command car can also broadcast the command of the superior general command center to subordinate users through the Beidou command type user machine.
2) Specifically, in a multilayer nested membership relationship, when a subordinate user (including a vehicle, an individual soldier and the like) equips a Beidou basic type user machine terminal, the error correction number calculated by a receiving total command center and Beidou satellite navigation information received by a local machine are subjected to differential operation to realize positioning and speed measurement; sending the information of self position, speed and the like to the user command control system, and executing command commands sent by command users affiliated to the user command control system; feeding back a command execution condition and a self system working state to a Beidou command type user machine of a command user; and according to the broadcast command sent by the commanding user of the subordinating relation of the upper layer or the higher layer sent by the subordinating commanding user, executing the commanding command of the commanding user of the higher layer, and feeding back the command executing condition and the working state of the system per se.
In summary, in the embodiments of the present invention, nesting between the beidou command-type user machine and the ordinary beidou user machine is adopted to realize nesting between cluster users, so that a superior command user manages a plurality of subordinate command users and ordinary users, the subordinate command user commands a plurality of subordinate command users and ordinary users, and so on to form a tree-like cluster management network, thereby realizing a multi-level nested cluster membership; finally, the vehicle-mounted command control system carries out hierarchical division and complete system integration on the separated information and communication resources of various vehicles and individual soldiers, and the general command center carries out unified command scheduling and control on the cluster target.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. The vehicle-mounted command control method based on the Beidou is characterized by comprising the following steps of:
establishing a cluster relationship and a membership relationship of Beidou users in a vehicle-mounted command control system; each cluster comprises a command user and a plurality of ordinary users, and the command users and the ordinary users in the clusters establish direct membership;
the system comprises a multilayer nested cluster relation and a membership relation, wherein in the multilayer nested cluster relation and the membership relation, a topmost cluster comprises a master commander user and a plurality of middle-layer commander users and/or subordinate users; each middle layer commanding user and other middle layer commanding users and/or subordinate users outside the topmost layer cluster form a next layer cluster, and a multilayer nested cluster relation is formed downwards in sequence; the membership relationship established among the multilayer clusters is an indirect membership relationship;
the Beidou command type user machine of the command user equipment is used for allocating broadcast IDs in registration to correspond to user IDs one by one, and the broadcast IDs are specially used for commanding the users to send broadcast information to subordinate users of the cluster; the command broadcast IDs corresponding to each cluster are different;
in the multilevel nested cluster relation and the membership relation, on one hand, the system injects the user ID of the middle level command user into the subordinate user parameter area of the Beidou command type user machine IC card of the command user equipment to which the middle level command user belongs to realize the monitoring of the outbound information of the command user in the membership relation, and on the other hand, the broadcast ID of the command user to which the middle level command user belongs is used as a virtual subordinate broadcast ID of the next level membership cluster user to be injected into the subordinate user parameter area of all user IC cards in the next level membership relation; here, the lower-layer membership refers to a lower-layer membership of a cluster in which the middle-layer commander user serves as a commander user;
when the middle layer command user sends the broadcast information to the subordinate users of the cross-layer cluster, the subordinate command users receive the broadcast information through the virtual subordinate broadcast ID in the middle layer command user IC card;
the command user issues a command to subordinate users in the cluster and monitors the states of the subordinate users;
subordinate users in the cluster execute received command instructions sent by command users and feed back command execution conditions and self states;
and the command user sends the broadcast to subordinate users in the indirect membership.
2. The command control method according to claim 1, wherein the total command user calculates error correction number of Beidou positioning, and sends the error correction number to all subordinate users for position correction of the subordinate users.
3. The command control method according to claim 2, wherein the error correction number is obtained by differentiating the precise coordinates of the total command center and the Beidou positioning observation value.
4. The command control method according to claim 1, wherein the user ID of the subordinate user is injected into the IC card subordinate user parameter area of the command user of the cluster to which the subordinate user belongs, and the broadcast ID of the command user of the cluster to which the subordinate user belongs is injected into the IC card broadcast ID parameter storage location of the subordinate user.
5. The command control method according to claim 1, wherein in the multi-level nested cluster relationship and the membership relationship, the master command user is a master command center, and the master command center sends a command to monitor the status of the subordinate user.
6. The command control method according to claim 5, wherein the central command center is equipped with a Beidou command type user machine, a Beidou antenna of the central command center is erected on a known point of geodetic coordinates, Beidou navigation information is received, the precise coordinates of the central command center are compared with the observed value through differential processing to eliminate errors and obtain error correction numbers, and the error correction numbers are broadcasted to subordinate users in real time through the command type Beidou user machine according to preset addresses.
7. The command control method as claimed in claim 6, wherein in the multi-level nested cluster relationship and membership relationship, the middle layer command user is a mobile command vehicle equipped with a Beidou command type user machine.
8. The command control method according to any one of claims 1 to 7, wherein the command is a formatted phrase command.
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| CN102340364B (en) * | 2010-07-29 | 2015-11-25 | 北京神州天鸿科技有限公司 | Broadcast message receiving equipment and method |
| CN103442395B (en) * | 2013-08-26 | 2016-02-24 | 北京车网互联科技股份有限公司 | A kind of Big Dipper data Transmission system based on connection pool and method thereof |
| CN104991261A (en) * | 2015-05-21 | 2015-10-21 | 北京九天利建信息技术有限公司 | Beidou multistage command control method and system |
| CN105738929B (en) * | 2016-03-02 | 2017-11-10 | 北京盈想东方科技股份有限公司 | A kind of Beidou communication navigation integral machine mounted terminal |
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