CN100455992C - Comprehensive positioning information device on bus - Google Patents
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- CN100455992C CN100455992C CNB2006100541224A CN200610054122A CN100455992C CN 100455992 C CN100455992 C CN 100455992C CN B2006100541224 A CNB2006100541224 A CN B2006100541224A CN 200610054122 A CN200610054122 A CN 200610054122A CN 100455992 C CN100455992 C CN 100455992C
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Abstract
The present invention discloses a comprehensive positioning information device for buses, which comprises a central control unit, a display unit, a communication module and a control key. A bus-speed mileage sensor and a GPS module are used for transmitting signals to the central control unit through a comprehensive position data module. The central control unit is used for emitting the processed signals to an information center through a communication interface and the communication module. The present invention combines the positioning superiority of two kinds of devices of a driving recording instrument and a GPS satellite positioning device and offsets the defects of the driving recording instrument and the GPS satellite positioning device through the comprehensive position data module and program. The comprehensive positioning information device for buses has a comprehensive positioning function and provides good real-time information service for administrators and drivers. The comprehensive positioning information device for buses can not be influenced by receiving the strength of satellite positioning information and can undertake a bus positioning function with the main part of a scheduled track. When a bus disengages from a scheduled line in driving, the device still can perform the function of a GPS satellite positioning module and realize the bus positioning function with longer time intervals.
Description
Technical field
The present invention relates to the vehicle location infotech, be specifically related to comprehensive positioning information device on bus by computer program control.Belong to the transport information electronic technology field.
Background technology
In the prior art, the vehicle-mounted terminal system of GPS locating device and " mileage location " is mainly as information acquisition, processing and transmission on passenger stock location and the basis, location.But all can not satisfy the requirement of public transit vehicle regulatory requirement and car-mounted information apparatus.Main cause is existing GPS locating device, owing to be subjected to the objective condition restriction of urban highway traffic, stand in great numbers as road both sides high building, directly block and the mirror image serious interference, perhaps The trees make a pleasant shade in the roadside, perhaps viaduct, tunnel seriously block decay, make gps satellite positioning system reception environment condition abominable unusually, the positioning action that is difficult to bring into normal play.And apart from ground about 10,000 8 thousand kilometers high every gps satellite, emissive power is 1W only, covers the sixth earth surface again, the 1.57Ghz microwave signal itself that arrives ground is very faint.Therefore, the phenomenon that in the urban highway traffic environment for use, GPS car-mounted terminal received signal is lost easily, positioning function is interrupted happens occasionally.Claim that according to the relevant expert GPS locatees interrupt probability and reaches 20～30% more than in urban transportation, can't guarantee per 20～30 seconds not positional informations of reporting device interruptedly.In the world this phenomenon is called " the valley effect of GPS ".In addition, at present domestic lower to the GPS application level, the hardware of use fails to adapt to the basic demand of vehicle environment condition; The positioning vehicle-carried terminal applies of GPS not deeply as just the device of a vehicle location, does not lack necessary information management, service function.European Union does not overcome gps satellite yet and is positioned at the limitation in the urban highway traffic use and uses other locator meamss instead in the intelligent bus management system pilot project of Paris, FRA.Above-mentioned these factors, the industrial investment that causes GPS to be used for public transport vehicle-mounted terminal suffers defeat after defeat.At present, the positioning function instability of GPS car-mounted terminal is difficult to apply in the public transport field, becomes common recognition in the public transport industry.
In recent years, a kind of " mileage location " device (" mileage location " is untenable academicly, in principle, apart from what and length scale, only is the one dimension parameter, is not decide the position) appears in the public transport field.It only is meant that the distance of counting from the inception point is determined the position of vehicle on fixing, a known circuit (position coordinates, the track of known inception point, middle each station on the way and terminus).This principle method has only under given conditions, has very strict qualifications and just can work.Although this method possesses simple, practical meaning, be easy to apply, can solve the problem that present GPS localization method is difficult to overcome, but because this method does not possess positioning function basically, in case so vehicle leave original circuit travel (go refuelling station, maintenance factory or separately he with), just lose numerous functions of location, monitoring, lose all management meanings.As China Patent No. 03115439 " public transit vehicle real-time positioning communication means and system thereof realize ", disclose a kind of mileage location of adopting and added the localization method that indicates point calibration; Chinese patent 02152577 " method of station reporting instrument automatic broadcasting ", the manual station reporting instrument that disclosed utilization is original is realized full-automatic location (remove and press start key when tours start here is dispatched a car); Chinese patent 02274727 " automatic broadcasting motorbus computer station reporting instrument arrives at a station " openly adopts the wheel information acquisition, and the realization voice are automatically called out the stops; Chinese patent 01245127 " bus locating device " openly has automatic speech and calls out the stops and the passenger flow statistics device; 93101262 " automatic apparatus for reporting bus stops " disclosedly add gate controlled switch with odometer sensor and realize the mileage location, automatically call out the stops.These patents and corresponding product thereof although the bus positional information of output will be stablized, in view of this method, thinking can't realize real location, thereby lack definite positioning function and corresponding management functions thereof.
Once more, a plug-in GPS locating device on drive recorder also once appearred on the market, but be two devices to be installed put together purely, do not solve both complementarity technically, both advantages are not merged according to the needs that use.Say definitely,, with software both data fusion got up afterwards, handle again and differentiate that also only is that analysis afterwards judges do not possess real-time management function and real-time information service function even both data are all noted.Thereby the operational version of a plug-in GPS locating device does not obtain the approval in market on this drive recorder, just runs its course yet, and does not almost see application.
Drive recorder promptly is a device with stroke, distance record statistical function, promptly so-called " mileage location " function.Gps satellite locating device and drive recorder respectively possess some good points, again each defectiveness; Between the two, these long those weak points, and these short those length.But prior art personnel often regard gps satellite locating device and driving recording instrument apparatus as the end device of opposition, perfect competition relation fully, do not give to organically combine the product of developing practicality.
Summary of the invention
At the prior art above shortcomings, the objective of the invention is the advantage of drive recorder and gps satellite locating device is merged, realize the real time comprehensive positioning function by computer program, for operation management person and driver provide the excellent real-time information service, and provide a kind of comprehensive positioning information device on bus.
The present invention is achieved in that comprehensive positioning information device on bus, comprises centralized control unit, display unit, communication module, operating key, vehicle speed mileage sensor and GPS module; Vehicle speed mileage sensor and GPS module are passed through the integrated location data module to the centralized control unit transmission signals; Centralized control unit is launched through communication interface and communication module the signal of handling to information center.
The integrated location data module is compiled unit four parts by predetermined running stroke and directional data memory block, parameter chooser module, track data comparison sub-module and position data and is formed.
Wherein, predetermined running stroke and directional data memory module thereof: stroke and relevant directional data thereof can be set automatically, and its data are as the foundation of whether differentiating at predetermined driving trace; To the data that the GPS module provides, discern its validity, choose data useful in the effective GPS character string, judge that it is directional data or location information data.
Track data comparison sub-module: differentiate the correctness of direction on each travel position,, illustrate that then vehicle ' is on predetermined circuit if correct; As find that travel direction is incorrect, and, then extract the longitude and latitude data that the GPS locating module is sent here through confirming;
Position data is compiled the unit: directional data or longitude and latitude numeric data code type that the GPS module is sent are changed, convert binary-coded decimal to by ascii character, the umber of pulse that speed pickup is sent here converts to apart from length, and directional data or longitude and latitude data comprehensively become certain data format with range data, deliver centralized control unit.
Described integrated location data module is carried out following steps:
A) computing of vehicle ' range data;
B) whether need the judgement of gps data event handling; If desired, then receive gps data; Otherwise, sub-routine ends;
C) receive gps data after, through the validity judge, adjudicate and be " effectively ", then choose and need comprehensive with data, translation data type, range data and gps data in the GPS character string, sub-routine ends.
The gps data distinguishing validity program of integrated location data module is carried out following steps:
A) insert gps data; B) win prefix data; C) judge whether to meet predetermined value; Do not meet, then sub-routine ends; D) meet predetermined value, the comparison process check code; Incorrect, sub-routine ends then; E) check code is correct, wins the data that need in the GPS character string.
Gps data type conversion subroutine is carried out following steps:
A) win the data that need, selected directions data or position data in the gps data string; B) Shu Chu need serial data converts binary-coded decimal to through ASCII character; C) new BCD serial data is formed in the arrangement of new BCD serial data; Sub-routine ends.
Compared to existing technology, the present invention has following advantage:
1, on location technology, merged the detent edge of drive recorder and two kinds of devices of gps satellite locating device, both defectives have been given to make up by integrated location data module and program; Realize the two-dimensional localization parameter, formed a kind of locating effect of practicality of innovation; Have comprehensive positioning function, and provide the good information service for supvr and driver;
2, both had safety management function, had the operation management function again; Can provide management information for administrative authority, can provide information service for driver and passenger again: drive recorder apart from fixed length, bidirectional data communication function, hypervelocity alarm, bad station prompt alarm with information center, automatic broadcasting is controlled, is entered the station, sets off and report to the center in real time automatically, accept dispatch command, point out the driver to dispatch a car, send 4 class warning messages to the center in real time;
3, add the travel direction data based on the distance fixed length, the reliability height.Because the public transit vehicle alignment travels, the travel direction of the last vehicle of every bit track (position) all is known, definite on the circuit.Locating device is constantly compared with predetermined travel direction on different tracks in the vehicle ' process, in case find to depart from, just differentiates and whether goes to pump island or whether enter the maintenance station; If be not, illustrate to be in other behaviours in service, extract latitude and longitude coordinates information from the gps satellite locating module immediately.
4, because the operating range of vehicle and length are to gather gained by the vehicle speed mileage sensor on the vehicle, can not be subjected to satellite and receive the information power or blocked, decay and influence, can bear vehicle location function based on desired trajectory.Even the gps satellite locator data has of short duration interruption, only stop the extraction of directional data momently, directional data is provided after the recovery as usual, do not influence the position discrimination function in the whole device period.That is to say, allow short interruption as data auxiliary, that differentiate usefulness.
In the vehicle derailing scheduled circuit travels, even the gps satellite locating module blocks, decays and can't normally receive owing to satellite-signal is of short duration, thereby cause the short interruption location, in 1～2 minute, do not provide latitude and longitude information, the latitude and longitude information of gps satellite location is provided after treating normally to receive again, the differentiation work of installing is influenced not quite.When vehicle leaves scheduled circuit and travels, still can bring into play the effect of gps satellite locating module, realize the vehicle location function that the time interval is long slightly.
Figure of description
Fig. 1 is a comprehensive positioning information device on bus theory diagram of the present invention;
Fig. 2 is an integrated location data module theory diagram of the present invention;
Fig. 3 is an integrated location data module program flow diagram of the present invention;
Fig. 4 is a gps data distinguishing validity subroutine flow chart;
Fig. 5 is a gps data type conversion subroutine flow chart.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, comprehensive positioning information device on bus comprises centralized control unit 1, display unit 2, communication interface 3, operating key 4, and vehicle speed mileage sensor 5 and GPS module 6 are passed through integrated location data module 7 to centralized control unit 1 transmission signals; Centralized control unit 1 is launched through communication interface 3 and communication module the signal of handling to the schedule information center.The communication module that communication interface 3 is connected adopts GPRS or CDMA-1X module.
Referring to Fig. 2, integrated location data module 7 is selected (and distinguishing validity) submodule 9, track data comparison sub-module 10 and position data to compile four parts such as unit 11 by the memory module 8 of predetermined running stroke and directional data thereof, parameter to form.
The present invention adopts embedded software system, and its each module effect is as described below:
Predetermined running stroke and directional data memory module thereof: stroke and relevant directional data thereof can be set automatically, and its data are as the foundation of whether differentiating at predetermined driving trace; To the data that the GPS module provides, discern its validity, choose data useful in the effective GPS character string, judge that it is directional data or location information data.
Track data comparison sub-module: differentiate the correctness of direction on each travel position,, illustrate that then vehicle ' is on predetermined circuit if correct; As it is true to judge poor direction, and through confirming, then extracts the longitude and latitude data that the GPS locating module is sent here;
Position data is compiled the unit: directional data or longitude and latitude numeric data code type that the GPS module is sent are changed, convert binary-coded decimal to, the umber of pulse that speed pickup is sent here converts to apart from length, and directional data or longitude and latitude data comprehensively become certain data format with range data, deliver centralized control unit.
Referring to Fig. 3, described integrated location data module is carried out following steps:
A) processing 21 of position or range data;
B) whether need the judgement 22 of gps data event handling; If desired, then receive gps data 23; Otherwise, sub-routine ends;
C) receive gps data 23 after, through the validity judge 24, adjudicate and be " effectively ", then get and need the comprehensive 27 of usefulness data 25, translation data type 26, range data and gps data, sub-routine ends in the GPS character string.
See Fig. 4,, have gps data the validity judge 24, to the differentiation 33 of gps data prefix (or claiming character head) correctness, to the judgement 35 of the comparison process 34 and the correctness of check code correctness owing to consider the frequent inefficacy of gps data.
The gps data distinguishing validity program of described integrated location data module 7 is carried out following steps:
A) insert gps data;
B) win prefix data;
C) judge whether to meet predetermined value; Do not meet, then sub-routine ends;
D) meet predetermined value, the comparison process check code; Incorrect, sub-routine ends then;
E) check code is correct, wins the data that need in the gps data string.
See Fig. 5, the gps data type conversion subroutine of described integrated location data module 7 is carried out following steps: a) win the data that need in the gps data string, selected directions data or position data 25;
B) Shu Chu need serial data converts binary-coded decimal 41 to through ASCII character;
C) new BCD serial data 42 is formed in the arrangement of new BCD serial data; Sub-routine ends.
Predetermined operation stroke and the directional data of taking from predetermined running stroke, directional data memory module 8 are known, the position data that collects when GPS module 6 selects (distinguishing validity) submodule 9 to differentiate when effective through parameter, directional data that certain travel point collected and the direction of being scheduled to are compared by track data comparison sub-module 10, consistent, confirm that just vehicle moves on the circuit of regulation.
When if the position data that GPS module 6 collects selects 9 differentiations of (distinguishing validity) submodule invalid through parameter, then finish the operation of this program segment, carry out parameter again up to next time and select (distinguishing validity) submodule 9, differentiate the data that newly collect by GPS module 6 and effectively just continue relatively.
If comparative result, when finding that direction is inconsistent (exceeding certain permissible error scope), continuous to confirm as direction 3 times inconsistent through track data comparison sub-module 10, just compile the longitude and latitude data of extracting GPS the unit 11 from position data.And the longitude and latitude data of vehicle by the device communication interface be sent to information center by the GPRS/CDMA-1X communication module, simultaneously the alarm.In addition, information center also can be sent to integrated location data module 7 by the GPRS/CDMA-1X communication module and obtain integrated location information, comprises range data and longitude and latitude data.
The effect of integrated location data module:
1) differentiates the correctness of direction on each travel position,, illustrate that then vehicle ' is on predetermined circuit as correctly; As it is true to rule out poor direction, and through confirming, then extracts the longitude and latitude data that the GPS locating module is sent here.
2) the GPS module is provided the validity of its data of data identification, and select, accept or reject.
New types of data structure of the present invention can position data be 3 bytes of S10～S12 in 15 bytes in the data structure of original car-mounted information apparatus, use 2 systems, with rice is the minimum precision of expressing, express 8,388.608 (b7 of the most significant digit S10 of 3 bytes represents to have or not GPS locating information frame immediately following this frame back kilometer, and b7 does not then find to depart from the regulation circuit as being 0, b7 then finds to depart from the regulation circuit as being 1).Find that b7 is 1 continuous 3 times, then expression has 1 GPS locating information frame immediately following this frame back.The frame length of locating information frame also is 15 bytes: removing prefix is flag of frame OXF4, and postamble is outside the check code, and data all are binary-coded decimal.GPS locating information frame is expressed as follows:
S1 S2 S3?S4 S5?S6 S7 S8?S9?S10?S11 S12 S13 S14 S15
Frame head longitude thing d dd mm mm latitude north and south dd mm mm direction number of degrees speed (motor-driven) postamble
Because the coordinate-system difference of two kinds of positional informations, must make the GIS can two kinds of coordinate datas of simultaneous adaptation.A kind of is with different circuit labels, and then starting point is 0, and the position of certain long-distance calculating of track is called the stroke fixed length coordinate system that permanent haulage line and starting point are started at; Second kind is latitude and longitude coordinates system.The fusion of these two kinds of coordinate systems, it is main being actually with second latitude and longitude coordinates, first kind of stroke fixed length coordinate system is all converted to corresponding longitude and latitude show.
Under the normal condition, use first kind of stroke fixed length coordinate system in large quantities, only be the coordinate system that outside public transit vehicle leaves for the regulation circuit, just adopts two kinds of coordinates to merge.
In alignment travelled, the directional data that extracts from the gps satellite locating device was assisted, and only detected vehicle and had or not to change its course and travel voluntarily.Only departed from really, just needed to extract the longitude and latitude parameter of GPS in the differentiation travel direction.During alignment travelled, the driving trace fixed length determined that vehicle is main, a large amount of use from initial site location.
Especially the processing of position (range data) feature, need gps data event handling 21, through adjudicating 22, as needs, then receive gps data 23, through the validity judge 24, for " effectively ", then get comprehensive 27 of useful data 25 in the GPS character string, translation data type 26, range data and gps data as judgement.
The processing of position (range data) feature, need in the gps data event handling 21, the judgement of position feature is main according to adjudicating from the range data of inception point.On a known line, distance is " 0 " from the inception point, shows that then this car is in the inception point; Greater than " 0 ", then need differentiate the residing actual station number of this car interval from the inception point distance; And then differentiate the position of entering the station, and determine station location, if belong to feature locations, then need the directional data in the gps data string.
If receive warning information, find to drive over the speed limit, block up, rely the station phenomenon, then need the directional data in the gps data string.
Except above-mentioned feature locations, also have in case find continuous 3 times to depart from normal running orbit, need obtain position data, just need to comprise in the gps data string direction, coordinate position and speed data.
Claims (4)
1, comprehensive positioning information device on bus, comprise centralized control unit (1), display unit (2), communication interface (3) and operating key (4), it is characterized in that: mileage vehicle speed sensor (5) and GPS module (6) are passed through integrated location data module (7) to centralized control unit (1) transmission signals; Centralized control unit (1) is launched through communication interface (3) and communication module the signal of handling to information center;
Integrated location data module (7) is compiled unit (11) four parts by predetermined running stroke and directional data memory module (8), parameter chooser module (9), track data comparison sub-module (10) and position data and is formed;
Predetermined running stroke and directional data memory module (8): stroke and relevant directional data thereof can be set automatically, and its data are as the foundation of whether differentiating at predetermined driving trace;
Parameter chooser module (9): to the data that the GPS module provides, discern its validity, choose data useful in the effective GPS character string, judge that it is directional data or location information data;
Track data comparison sub-module (10): differentiate the correctness of direction on each travel position,, illustrate that then vehicle ' is on predetermined circuit if correct; As it is true to judge poor direction, and through confirming, then extracts the longitude and latitude data that the GPS module is sent here;
Position data is compiled unit (11): directional data or longitude and latitude numeric data code type that the GPS module is sent are changed, convert binary-coded decimal to by ascii character, the umber of pulse that the mileage vehicle speed sensor is sent here converts to apart from length, and directional data or longitude and latitude data comprehensively become certain data format with range data, deliver centralized control unit;
Described integrated location data module (7) is carried out following steps:
A) processing of position or range data (21);
B) whether need the judgement (22) of gps data event handling; If desired, then receive gps data (23); Otherwise, sub-routine ends;
C) receive gps data (23) after, through the validity judge (24), adjudicate and be " effectively ", then get comprehensive (27) that need usefulness data (25), translation data type (26), range data and gps data in the GPS character string, sub-routine ends.
2, comprehensive positioning information device on bus according to claim 1 is characterized in that: the gps data distinguishing validity program of described integrated location data module (7) is carried out following steps:
A) insert gps data;
B) win prefix data;
C) judge whether to meet predetermined value; Do not meet, then sub-routine ends;
D) meet predetermined value, the comparison process check code; Incorrect, sub-routine ends then;
E) check code is correct, wins the data that need in the gps data string.
3, comprehensive positioning information device on bus according to claim 1 is characterized in that: the gps data type conversion subroutine of described integrated location data module (7) is carried out following steps:
A) win the data that need, selected directions data or longitude and latitude position data (25) in the gps data string;
B) Shu Chu need serial data converts its ASCII character to binary-coded decimal (41);
C) new BCD serial data (42) is formed in the arrangement of serial data; Sub-routine ends.
4, comprehensive positioning information device on bus according to claim 1 is characterized in that: described communication module is GPRS or CDMA-1X module.
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| CNB2006100541224A CN100455992C (en) | 2006-03-09 | 2006-03-09 | Comprehensive positioning information device on bus |
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| CNB2006100541224A CN100455992C (en) | 2006-03-09 | 2006-03-09 | Comprehensive positioning information device on bus |
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| CN100455992C true CN100455992C (en) | 2009-01-28 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101206644B (en) * | 2006-12-18 | 2010-05-12 | 厦门雅迅网络股份有限公司 | Method for processing vehicle running track data |
| CN101666653B (en) * | 2008-09-05 | 2014-03-26 | 鸿富锦精密工业（深圳）有限公司 | Gps device and navigation method |
| CN102147980A (en) * | 2010-12-08 | 2011-08-10 | 厦门雅迅网络股份有限公司 | Public bus automatic stop announcement system and method capable of realizing remote updating |
| CN103197333A (en) * | 2012-01-05 | 2013-07-10 | 中国铁路通信信号上海工程集团有限公司 | Auxiliary system and auxiliary method for railway synchronous positioning |
| CN104915913A (en) * | 2015-05-28 | 2015-09-16 | 成都亿邻通科技有限公司 | Method of providing bus record for user |
| CN107197343A (en) * | 2016-03-14 | 2017-09-22 | 江苏穿越金点信息科技股份有限公司 | Bus vehicle-mounted mobile TV play system |
| CN106028291A (en) * | 2016-07-25 | 2016-10-12 | 青岛海信网络科技股份有限公司 | Bus stop reporting method and bus stop reporting apparatus |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
| CN111856541B (en) * | 2020-07-24 | 2023-11-14 | 苏州中亿通智能系统有限公司 | Fixed line vehicle track monitoring system and method |
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| JPS62261011A (en) * | 1986-05-07 | 1987-11-13 | Niles Parts Co Ltd | Vehicle navigation apparatus |
| JP2000241179A (en) * | 1999-02-19 | 2000-09-08 | Zenrin Co Ltd | Method and system for acquisition of hybrid running track |
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