CN103728588A - Method, device, processor and road testing unit for base line direction-finding - Google Patents

Abstract

The invention relates to the field of intelligent transportation systems, and discloses a method, device, processor and road testing unit for base line direction-finding. According to the method, a calibration direction is firstly determined, and direction-finding parameters are obtained; phase differences and lengths of all base lines projected on the calibration direction according to the parameters are obtained, and according to the phase differences and lengths on the calibration direction, base line measured angles of the base lines are obtained; all obtained base line measured angles are subjected to weight fusion and are compared with incidence angles in the direction-finding parameters, weight needed in the weight fusion is obtained according to the comparison result, and according to the direction-finding angles of electromagnetic signals on the calibration direction are obtained according to the weight, direction-finding of a vehicle is achieved. By means of the method, the base lines in different directions are projected to the needed calibration direction, the base line measured angles of all base lines are obtained according to the phase differences and lengths, so that when direction finding is carried out, the base lines in different directions are utilized, and direction-finding precision is improved.

Description

Baseline direction-finding method, device, processor and drive test unit

Technical field

The present invention relates to intelligent transportation field, particularly relate to a kind of baseline direction-finding method, device, processor and drive test unit.

Background technology

In ETC(Electronic Toll Collection, intelligent transportation) field, often need to carry out direction finding to vehicle, to location is carried out in the position of vehicle.

In ETC system, for the device of direction finding, comprise: OBU(On board Unit, mobile unit), aerial array and background controller.In aerial array, any two bays form a baseline, when carrying out direction finding, by the OBU signal that generates electromagnetic waves, each array element in aerial array receives described electromagnetic wave signal, and described background controller obtains each baseline in same direction, is receiving the phase differential producing after described electromagnetic wave signal, and carry out weighted mean, thereby obtain in same direction, the phase information that multiple baselines are average, realizes the location to vehicle location.

But inventor finds in the application's research process, the direction-finding method of prior art, only carries out direction finding with unidirectional baseline, is subject to the impact of external environment, and direction finding precision is low.

Summary of the invention

In view of this, the object of the present invention is to provide a kind of baseline direction-finding method, device, processor and drive test unit, the low problem of direction finding precision existing to solve prior art, specific embodiments is as follows:

A kind of baseline direction-finding method, comprising:

Determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets;

According to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline;

Described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

Preferably, described baseline direction finding direction also comprises: store the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

Preferably, according to length and the phase differential of the angle in described direction finding parameter, each baseline, obtain described each base line projection and to the phase differential algorithm on described fixed setting be:

φ _xi=φ _icosθ _i；

Wherein, φ _ifor forming the phase differential of two bays of i article of baseline; θ _iit is the angle of i article of baseline and described fixed setting; φ _xifor this base line projection is to the phase differential on described fixed setting;

According to length and the phase differential of the angle in described direction finding parameter, each baseline, obtain described each base line projection and to the algorithm of the length on described fixed setting be:

d _xi=d _icosθ _i；

Wherein, d _ibe the length of i article of baseline; θ _iit is the angle of i article of baseline and described fixed setting; d _xifor this base line projection is to the length on described fixed setting.

Preferably, phase differential and length according to described each baseline on described fixed setting, the algorithm that obtains the baseline angle measurement of described each baseline is:

$\sin {\mathrm{\α}}_{\mathrm{xi}}=\frac{{\mathrm{\φ}}_{\mathrm{xi}}\mathrm{\λ}}{2\mathrm{\π}{d}_{\mathrm{xi}}}$

Wherein, φ _xibe i article of base line projection to the phase differential on described fixed setting; d _xibe i article of base line projection to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α _xifor the baseline angle measurement of this baseline on described fixed setting.

Preferably, described described each baseline angle measurement is weighted to fusion, and compares with each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, comprising:

For described each baseline angle measurement, set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion;

Obtain the fusion results of described baseline angle measurement and total square error of described incident angle, and obtain in described total square error hour the value of described each weight parameter;

According to the value of described each weight parameter, obtain the value of described fusion results, and obtain the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.

Preferably, described in obtain in described total square error hour, the value of described each weight parameter, comprising:

According to

obtain the fusion results of described baseline angle measurement and total square error of described incident angle;

Wherein, β _jrefer to OBU when diverse location, electromagnetic wave signal and each the corresponding incident angle of baseline;

for each baseline angle measurement being merged to the fusion results of obtaining on fixed setting; w _ifor weight parameter; α _ijwhat represent is that incident angle is β _jtime, the baseline angle measurement on fixed setting of i article of baseline; E is the square error of described fusion results and described incident angle;

Obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:

$\frac{\∂E}{\∂w_1}=\underset{j}{\mathrm{\Σ}}2(\sin {\mathrm{\β}}_j-\underset{i}{\mathrm{\Σ}}{w}_i\sin {\mathrm{\α}}_{\mathrm{ij}})\sin {\mathrm{\α}}_{1j}=0$

…

$\frac{\∂E}{\∂w_k}=\underset{j}{\mathrm{\Σ}}2(\sin {\mathrm{\β}}_j-\underset{i}{\mathrm{\Σ}}{w}_i\sin {\mathrm{\α}}_{\mathrm{ij}})\sin {\mathrm{\α}}_{\mathrm{kj}}=0$

According to above-mentioned system of equations, obtain w ₁, w ₂..., w _kvalue, described w ₁, w ₂..., w _kbe corresponding weight parameter.

Accordingly, the invention also discloses a kind of baseline direction-finding device, comprising:

Direction finding parameter acquisition module, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets;

Baseline angle measurement acquisition module, be used for according to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline;

Direction finding angle acquisition module, for described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

Preferably, described baseline direction-finding device also comprises:

Memory module, for storing the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtains the direction finding angle of electromagnetic wave signal on described fixed setting, realizes the direction finding to vehicle.

Preferably, described direction finding angle acquisition module comprises:

Integrated unit, is used to described each baseline angle measurement to set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion;

Weight parameter acquiring unit, for obtaining the fusion results of described baseline angle measurement and total square error of described incident angle, and obtains in described total square error hour the value of described each weight parameter;

Direction finding angle acquiring unit, for according to the value of described each weight parameter, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.

Accordingly, the invention also discloses a kind of processor, on the chip of described processor, be integrated with above-mentioned baseline direction-finding device.

Accordingly, the invention also discloses a kind of drive test unit, described drive test unit comprises background controller, is provided with processor as above in described background controller.

Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each baseline and each baseline, obtain each base line projection to phase differential and length on fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline; Each baseline angle measurement getting is weighted to fusion, and the incident angle in itself and direction finding parameter is compared, according to comparing result, obtain weight required in Weighted Fusion, the direction finding angle according to described Weight Acquisition electromagnetic wave signal on described fixed setting, realizes the direction finding to vehicle.

In baseline direction-finding method disclosed in this invention, by the baseline of different directions, project on required fixed setting, and according to the phase differential after projection and length, obtain the baseline angle measurement of described each baseline, thereby when carrying out direction finding, what utilize is the baseline of different directions, with in prior art, can only utilize unidirectional baseline to compare, be not vulnerable to the interference of external environment, improved direction finding precision.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the workflow schematic diagram of the disclosed a kind of baseline direction-finding method of the embodiment of the present invention;

Fig. 2 is the disclosed antenna array structure schematic diagram of the embodiment of the present invention;

Fig. 3 is in the disclosed a kind of baseline direction-finding method of the embodiment of the present invention, obtains the schematic diagram of incident wave;

Fig. 4 is in the disclosed a kind of baseline direction-finding method of the embodiment of the present invention, obtains the workflow schematic diagram of baseline angle measurement;

Fig. 5 is the disclosed a kind of baseline direction finding message Fusion Model of the embodiment of the present invention;

Fig. 6 is the structural representation of the disclosed a kind of baseline direction-finding device of the embodiment of the present invention;

Fig. 7 is in the disclosed a kind of baseline direction-finding device of the embodiment of the present invention, the structural representation of direction finding angle acquisition module.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.

The invention discloses a kind of baseline direction-finding method, while carrying out baseline direction finding to solve in prior art, the low problem of direction finding precision of existence.Workflow schematic diagram shown in Figure 1, described baseline direction-finding method comprises:

Step S11, determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets.

Every baseline is comprised of two bays.Wherein said fixed setting is the direction of choosing arbitrarily, and during practical operation, the direction that can select any baseline place is fixed setting, conventionally can be referred to as directions X.The structural representation of aerial array shown in Figure 2, when the direction at the baseline place that selected array element 1 and array element 2 form is fixed setting, the baseline that array element 2 and array element 3 form and the angle of fixed setting are 30 °, and the baseline that array element 2 and array element 4 form and the angle of fixed setting are 90 °.According to the structure of aerial array, user can get the angle of each baseline and fixed setting in advance, and the length of each baseline, and the length of described angle and each baseline is transferred to the processor of carrying out baseline direction finding.

Form two bays of every baseline, receiving after the electromagnetic wave signal of OBU transmission, can produce corresponding phase differential.Under normal circumstances, phase detector is connected with described bay, is receiving after electromagnetic wave signal, phase detector produces described phase differential, and transmits it to the processor of carrying out baseline direction finding.

In addition, incident wave schematic diagram shown in Figure 3, OBU generates electromagnetic waves after signal, every baseline receives described electromagnetic wave signal, described electromagnetic wave signal is equivalent to the incident wave of baseline, by OBU parallel surface, to baseline, the angle of itself and baseline is exactly incident angle, and every baseline will obtain a corresponding incident angle.When changing the position of OBU, there is corresponding change in incident angle.User obtains OBU in advance when diverse location, the corresponding incident angle of each baseline, and described incident angle is transferred to the processor of carrying out baseline direction finding, so that described processor is according to the incident angle receiving and other direction finding parameters, carry out baseline direction finding.

Step S12, according to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline.

This step is mainly the mode of utilizing vector to decompose, and the baseline phase differential of different directions and length are projected to required direction, then the phase differential on fixed setting and length are obtained baseline angle measurement according to each baseline.

Step S13 is weighted fusion by described each baseline angle measurement, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

Described incident angle is in the situation of the residing position of known OBU, the incident angle that each baseline gets.Described each baseline angle measurement is merged mutually, and what get is according to the determined weighted value of the baseline of different directions.The two is contrasted, can obtain actual direction finding angle.

Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each baseline and each baseline, obtain each base line projection to phase differential and length on fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline; Each baseline angle measurement getting is weighted to fusion, and the incident angle in itself and direction finding parameter is compared, according to comparing result, obtain the value of weight parameter required in Weighted Fusion, and according to the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

In baseline direction-finding method disclosed in this invention, by the baseline of different directions, project on required fixed setting, and according to the phase differential after projection and length, obtain the baseline angle measurement of described each baseline, thereby when carrying out direction finding, what utilize is the baseline of different directions, with in prior art, can only utilize unidirectional baseline to compare, be not vulnerable to the interference of external environment, improved direction finding precision.

Further, in step S13, obtain the value of the required weight parameter of Weighted Fusion, and obtain after the direction finding angle of electromagnetic wave signal on fixed setting according to the value of described weight parameter, also comprise:

Store the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

The value of wherein said weight parameter is solidificated in software or hardware, by the value of weight parameter of storage, and the direction finding parameter again receiving, can be according to the above-mentioned scheme providing, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle, and do not need to calculate again, to obtain the value of weight parameter, thus the speed of quickening direction finding.

Wherein, in step S12, according to length and the phase differential of the angle in described direction finding parameter, each baseline, obtain described each base line projection and to the phase differential algorithm on described fixed setting be:

φ _xi=φ _icosθ _i；

Wherein, φ _ifor forming the phase differential of two bays of i article of baseline; θ _ifor the angle of described i article of baseline and described fixed setting; φ _xifor this base line projection is to the phase differential on described fixed setting.In the direction finding parameter receiving, comprise the angle theta of each baseline and described fixed setting _i, and form two phase difference that bay produces when obtaining electromagnetic wave signal of every baseline _i, according to described direction finding parameter, can obtain each base line projection to the phase differential on described fixed setting.

According to said method, the phase differential of two bays of a baseline of composition is projected on fixed setting, can obtain the phase differential group of many baselines on fixed setting and be: φ _x1, φ _x2, φ _x3..., φ _xi...

Wherein, fixed setting is the direction of choosing arbitrarily, and the direction of conventionally choosing any baseline place is fixed setting, and described fixed setting is called to x direction.Schematic diagram shown in Figure 2, when the direction at the baseline place that selected array element 1 and array element 2 form is fixed setting, while being x direction, the baseline that array element 2 and array element 4 form and the angle of fixed setting are 90 °, and the direction at the baseline place that array element 2 and array element 4 form is y direction.

According to length and the phase differential of the angle in described direction finding parameter, each baseline, obtain described each base line projection and to the algorithm of the length on described fixed setting be:

d _xi=d _icosθ _i；

Wherein, d _ibe the length of i article of baseline; θ _iit is the angle of i article of baseline and described fixed setting; d _xifor this base line projection is to the length on described fixed setting.According to direction finding parameter, can obtain the angle theta of each baseline and described fixed setting _i, and the length of every baseline, the length of described every baseline is the distance between two bays of this baseline of composition.

By said method, the mode that the baseline of different directions can be decomposed through vector, projects to required direction by the baseline phase differential of different directions and length.

Further, phase differential and length according to described each baseline on described fixed setting, the algorithm that obtains the baseline angle measurement of described each baseline on described fixed setting is:

$\sin {\mathrm{\α}}_{\mathrm{xi}}=\frac{{\mathrm{\φ}}_{\mathrm{xi}}\mathrm{\λ}}{2\mathrm{\π}{d}_{\mathrm{xi}}}$

Wherein, φ _xibe i article of base line projection to the phase differential on described fixed setting; d _xibe i article of base line projection to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α _xifor the baseline angle measurement of this baseline on described fixed setting.

Wavelength X=the C/F of electromagnetism wave-wave signal, wherein C is the light velocity, F is the frequency of electromagnetic wave signal, in ETC system, the frequency of GB signal is generally 5.8GHZ, is determining after the frequency of electromagnetic wave signal, can either determine the wavelength of described electromagnetic wave signal, in advance the wavelength value of described electromagnetic wave signal is stored in processor, can be according to each baseline phase differential and the length on fixed setting, obtain the baseline angle measurement of described each baseline on described fixed setting.Through said method, the sine value that can obtain the baseline angle measurement that each baseline is corresponding is: sin α _x1, sin α _x2..., sin α _xi

In the disclosed schematic diagram of Fig. 2, if will determine, y direction is fixed setting, can pass through

obtain the baseline angle measurement of each baseline on described fixed setting.

Further, workflow schematic diagram shown in Figure 4, in step S13, described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and according to the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, comprising:

Step S131, for described each baseline angle measurement, set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion.

Set weight parameter corresponding to each baseline angle measurement and be respectively w ₁, w ₂..., w _k, the fusion results that Weighted Fusion obtains is:

what wherein, k represented is the sum of baseline.

Total square error of step S132, the fusion results of obtaining described baseline angle measurement and described incident angle, and obtain in described total square error hour the value of described each weight parameter.

First, according to

obtain the fusion results of described baseline angle measurement and total square error of described incident angle.Wherein, β _jrefer to signal emitting-source, OBU when diverse location, electromagnetic wave signal and each the corresponding incident angle of baseline.During the residing position of fixing OBU, every baseline will obtain a corresponding incident angle, and when changing the position of OBU, corresponding change occurs incident angle.J refers to the number of times that changes OBU position, and when the position of each OBU changes, each baseline all can obtain corresponding incident angle.Bay shown in Figure 3 receives the schematic diagram of ejected wave signal, and by OBU parallel surface, to baseline, the angle of itself and baseline is exactly incident angle; when each baseline angle measurement being merged on fixed setting, the fusion results of obtaining; w _ifor weight parameter; α _ijwhat represent is that incident angle is β _jtime, the baseline angle measurement on fixed setting of i article of baseline; E is the square error of described fusion results and described incident angle.

Then, obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:

$\frac{\&PartialD;E}{\&PartialD;{\mathrm{<figure-callout\; id="1"\; label="w"\; filenames="HDA00003420455900012.png"\; state="\{\{state\}\}">w</figure-callout>}}_1}=\underset{j}{\mathrm{\&Sigma;}}2(\sin {\mathrm{\&beta;}}_j-\underset{i}{\mathrm{\&Sigma;}}{w}_i\sin {\mathrm{\&alpha;}}_{\mathrm{ij}})\sin {\mathrm{\&alpha;}}_{1j}=0$

…

$\frac{\&PartialD;E}{\&PartialD;w_k}=\underset{j}{\mathrm{\&Sigma;}}2(\sin {\mathrm{\&beta;}}_j-\underset{i}{\mathrm{\&Sigma;}}{w}_i\sin {\mathrm{\&alpha;}}_{\mathrm{ij}})\sin {\mathrm{\&alpha;}}_{\mathrm{kj}}=0$

Finally, according to above-mentioned system of equations, obtain the value of weight parameter, wherein, described w ₁, w ₂..., w _kbe each the weight parameter that baseline angle measurement is corresponding.Wherein, w _kwhat represent is the k article of weight parameter that baseline is corresponding, and the number of weight parameter is identical with the number of baseline.

When obtaining the value of weight parameter according to above-mentioned system of equations, adopt the method that in linear algebra, " Gaussian elimination method " solves an equation, can solve the value of each weight parameter.For example, establish baseline and add up to I, can obtain I I unit linear function group:

w ₁∑ _jsin ²α _1j+w ₂∑ _jsinα _1jsinα _2j+...+w _k∑ _jsinα _1jsinα _kj-I∑ _jsinβ _jsinα _1j=0

w ₁∑ _jsinα _1jsinα _2j+w ₂∑ _jsin ²α _2j+...+w _k∑ _jsinα _kjsinα _2j-I∑ _jsinβ _jsinα _2j=0

…

w ₁∑ _jsinα _1jsinα _kj+w ₂∑ _jsinα _2jsinα _kj+...+w _k∑ _jsin ²α _kj-I∑ _jsinβ _jsinα _kj=0

Separate above-mentioned system of equations, can obtain in total square error hour the value of each weight parameter.

The above-mentioned method of obtaining weight parameter is mainly based on least square method.Direction finding message to many baselines is weighted fusion, and by least square method, can obtain the direction finding message that error is little, precision is high.

Step S133, according to the value of described each weight parameter, obtain the value of described fusion results, and obtain described direction finding angle according to the value of described fusion results.

According to said method, obtain after the value of each weight parameter, by its substitution obtain the value of fusion results, for example, setting direction finding angle is α, by each weight parameter substitution, can try to achieve the value of sin α, it is carried out to inverse sine, can obtain the value of ε, wherein ε is the direction finding angle of electromagnetic wave signal on described fixed setting.

According to the direction finding angle [alpha] of obtaining, can determine the residing position of OBU, realize the direction finding to vehicle.

In addition, if in step S132, fail to solve the value of weight parameter, directly by all baselines according to weight averages such as corresponding sine values, obtain corresponding direction finding angle.

The structural representation of bay shown in Figure 2, is fixed setting if set the direction at baseline 1-2 place, during x direction, when direction finding, the phase differential of baseline 2-3 and baseline 2-4 and base length need to be projected to x direction.The phase differential of setting baseline 1-2 is A, the phase differential of baseline 2-3 is B, and B is projected to after x direction, and the phase differential on its fixed setting is B*cos30 °, the length of setting baseline 2-3 is d (2-3), and the length on its fixed setting is d (2-3) * cos30 °.

The sine value of baseline 1-2 incident angle is sina ₁=A* wavelength/{ 2*PI*d (1-2) }, the baseline 1-2 incident angle sine value of being obtained by B is sina2=B*cos30* wavelength/{ 2*PI*d (2-3) * cos30 ° }, and the angle of baseline 2-4 and 1-2 is 90 degree, cos90 °=0, it is 0 that d (2-4) and phase differential project to value after 1-2, so temporarily do not consider the component of baseline 2-4 on 1-2, weighted mean is that W1*sina1+W2*sina2 is the incident angle sine value of electromagnetic wave in baseline 1-2 direction, is the sine value of the direction finding angle of electromagnetic wave signal on fixed setting.

Baseline direction-finding method disclosed in this invention, first determines that the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each baseline and each baseline, obtain each base line projection to phase differential and length on fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline; Each baseline angle measurement getting is weighted to fusion, and the incident angle in itself and direction finding parameter is compared, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

Obtaining phase differential and the length of each baseline on fixed setting, the mode of utilizing vector to decompose, by the base line projection of different directions on required fixed setting, thereby make the result of baseline angle measurement Weighted Fusion relevant to the baseline of different directions, with in prior art, can only utilize unidirectional baseline and compare, the method disclosed in the present merges more baseline information mutually, be not vulnerable to the interference of external environment, avoided in prior art, when the indivedual baselines under same direction are made mistakes, the problem that can produce maximum error, has improved direction finding precision.

In addition, for the workflow of the disclosed baseline direction-finding method of clear and definite the application, the invention discloses a kind of baseline direction finding message Fusion Model, referring to the disclosed baseline direction finding message of Fig. 5 Fusion Model, in this Fusion Model,

extremely for each baseline is receiving after electromagnetic wave signal, the original measurement phase differential of generation, θ 1 to θ k is the angle of each baseline and fixed setting; After vector projection, obtain

extremely

for the phase differential of each baseline projection on fixed setting; Getting after the phase differential of projection on fixed setting, through corresponding calculating, obtaining baseline angle measurement α 1 to α k; Obtain after baseline angle measurement, each baseline information is weighted on average, finally obtain the direction finding angle [alpha] of electromagnetic wave signal on fixed setting.According to this direction finding angle [alpha], can obtain the residing position of OBU, and then realize the direction finding to automobile.

Accordingly, the invention also discloses a kind of baseline direction-finding device, structural representation shown in Figure 6, described baseline direction-finding device comprises: direction finding parameter acquisition module 11, baseline angle measurement acquisition module 12 and direction finding angle acquisition module 13, wherein,

Described direction finding parameter acquisition module 11, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets;

Described baseline angle measurement acquisition module 12, be used for according to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline;

Described direction finding angle acquisition module 13, for described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

Further, baseline direction-finding device disclosed in this invention also comprises:

Memory module, described memory module is for storing the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

Further, structural representation shown in Figure 7, described direction finding angle acquisition module 13 comprises: integrated unit 131, weight parameter acquiring unit 132 and direction finding angle acquiring unit 133, wherein,

Described integrated unit 131, is used to described each baseline angle measurement to set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion;

Described weight parameter acquiring unit 132, for obtaining the fusion results of described baseline angle measurement and total square error of described incident angle, and obtains in described total square error hour the value of described each weight parameter;

Described direction finding angle acquiring unit 133, for according to the value of described each weight parameter, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.

Baseline direction-finding device disclosed in this invention, first determines that by direction finding parameter acquisition module the direction at any baseline place is fixed setting, and obtains direction finding parameter; Then by baseline angle measurement acquisition module, according in described direction finding parameter, the phase differential of two bays in the angle of each baseline and fixed setting, the length of each baseline and each baseline, obtain each base line projection to phase differential and length on fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline; Finally by direction finding angle acquisition module, each baseline angle measurement getting is weighted to fusion, and the incident angle in itself and direction finding parameter is compared, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

When obtaining the phase differential of each baseline on fixed setting and length, the mode that baseline direction-finding device disclosed in this invention utilizes vector to decompose, by the base line projection of different directions on required fixed setting, thereby make the result of baseline angle measurement Weighted Fusion relevant to the baseline of different directions, with in prior art, can only utilize unidirectional baseline and compare, the method disclosed in the present merges more baseline information mutually, be not vulnerable to the interference of external environment, avoided in prior art, when the indivedual baselines under same direction are made mistakes, can produce the problem of maximum error, improved direction finding precision.

Further, baseline direction-finding device disclosed in this invention is also provided with memory module, for storing the value of the weight parameter getting, while again carrying out the direction finding of vehicle, directly call the value of described weight parameter, and do not need through above-mentioned computation process, to calculate again, thereby simplified workflow, improved direction finding speed.

Accordingly, the invention also discloses a kind of processor, on the chip of described processor, be integrated with baseline direction-finding device as above.That is to say, on the chip of described processor, be integrated with direction finding parameter acquisition module 11, baseline angle measurement acquisition module 12 and direction finding angle acquisition module 13.Further, in described baseline direction-finding device, also comprise memory module, described direction finding angle acquisition module 13 comprises: integrated unit 131, weight parameter acquiring unit 132 and direction finding angle acquiring unit 133.

Further, processor disclosed in this invention is arranged in the background controller of ETC system.

Accordingly, the invention also discloses a kind of drive test unit, described drive test unit comprises background controller, is provided with processor as above in described background controller.

Those of ordinary skills can recognize, unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions are carried out with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can realize described function with distinct methods to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.

Those skilled in the art can be well understood to, and for convenience and simplicity of description, the specific works process of the system of foregoing description, device and unit, can, with reference to the corresponding process in preceding method embodiment, not repeat them here.

In the several embodiment that provide in the application, should be understood that disclosed system, apparatus and method can realize by another way.For example, device embodiment described above is only schematic, for example, the division of described unit, be only that a kind of logic function is divided, during actual realization, can have other dividing mode, for example multiple unit or assembly can in conjunction with or can be integrated into another system, or some features can ignore, or do not carry out.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, indirect coupling or the communication connection of device or unit can be electrically, machinery or other form.

The described unit as separating component explanation can or can not be also physically to separate, and the parts that show as unit can be or can not be also physical locations, can be positioned at a place, or also can be distributed in multiple network element.Can select according to the actual needs some or all of unit wherein to realize the object of the present embodiment scheme.

In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing unit, can be also that the independent physics of unit exists, and also can be integrated in a unit two or more unit.

If described function realizes and during as production marketing independently or use, can be stored in a computer read/write memory medium using the form of SFU software functional unit.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or the part of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprise that some instructions (can be personal computers in order to make a computer equipment, server, or the network equipment etc.) carry out all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: various media that can be program code stored such as USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CDs.

To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the present invention.To the multiple modification of these embodiment, will be apparent for those skilled in the art, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (11)

1. a baseline direction-finding method, is characterized in that, comprising:

Determine that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets;

According to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline;

Described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

2. method according to claim 1, is characterized in that, described baseline direction-finding method also comprises:

Store the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtain the direction finding angle of electromagnetic wave signal on described fixed setting, realize the direction finding to vehicle.

3. method according to claim 1 and 2, is characterized in that, according to length and the phase differential of the angle in described direction finding parameter, each baseline, obtains described each base line projection and to the phase differential algorithm on described fixed setting is:

φ _xi=φ _icosθ _i；

Wherein, φ _ifor forming the phase differential of two bays of i article of baseline; θ _iit is the angle of i article of baseline and described fixed setting; φ _xifor this base line projection is to the phase differential on described fixed setting;

According to length and the phase differential of the angle in described direction finding parameter, each baseline, obtain described each base line projection and to the algorithm of the length on described fixed setting be:

d _xi=d _icosθ _i；

Wherein, d _ibe the length of i article of baseline; θ _iit is the angle of i article of baseline and described fixed setting; d _xifor this base line projection is to the length on described fixed setting.

4. method according to claim 3, is characterized in that, phase differential and length according to described each baseline on described fixed setting, and the algorithm that obtains the baseline angle measurement of described each baseline is:

$\sin {\mathrm{\&alpha;}}_{\mathrm{xi}}=\frac{{\mathrm{\&phi;}}_{\mathrm{xi}}\mathrm{\&lambda;}}{2\mathrm{\&pi;}{d}_{\mathrm{xi}}}$

Wherein, φ _xibe i article of base line projection to the phase differential on described fixed setting; d _xibe i article of base line projection to the length on described fixed setting; λ is the wavelength of electromagnetic wave signal; α _xifor the baseline angle measurement of this baseline on described fixed setting.

5. method according to claim 1 and 2, it is characterized in that, described described each baseline angle measurement is weighted to fusion, and compare with each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, comprising:

For described each baseline angle measurement, set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion;

Obtain the fusion results of described baseline angle measurement and total square error of described incident angle, and obtain in described total square error hour the value of described each weight parameter;

According to the value of described each weight parameter, obtain the value of described fusion results, and obtain the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.

6. method according to claim 5, is characterized in that, described in obtain in described total square error hour, the value of described each weight parameter, comprising:

According to

obtain the fusion results of described baseline angle measurement and total square error of described incident angle;

Wherein, β _jrefer to OBU when diverse location, electromagnetic wave signal and each the corresponding incident angle of baseline;

for each baseline angle measurement being merged to the fusion results of obtaining on fixed setting; w _ifor weight parameter; α _ijwhat represent is that incident angle is β _jtime, the baseline angle measurement on fixed setting of i article of baseline; E is the square error of described fusion results and described incident angle;

Obtain the partial derivative of each weight parameter in described total square error formula, and set to 0, obtain following system of equations:

$\frac{\&PartialD;E}{\&PartialD;w_1}=\underset{j}{\mathrm{\&Sigma;}}2(\sin {\mathrm{\&beta;}}_j-\underset{i}{\mathrm{\&Sigma;}}{w}_i\sin {\mathrm{\&alpha;}}_{\mathrm{ij}})\sin {\mathrm{\&alpha;}}_{1j}=0$

…

$\frac{\&PartialD;E}{\&PartialD;w_k}=\underset{j}{\mathrm{\&Sigma;}}2(\sin {\mathrm{\&beta;}}_j-\underset{i}{\mathrm{\&Sigma;}}{w}_i\sin {\mathrm{\&alpha;}}_{\mathrm{ij}})\sin {\mathrm{\&alpha;}}_{\mathrm{kj}}=0;$

According to above-mentioned system of equations, obtain w ₁, w ₂..., w _kvalue, described w ₁, w ₂..., w _kbe corresponding weight parameter.

7. a baseline direction-finding device, is characterized in that, comprising:

Direction finding parameter acquisition module, for determining that any one direction is fixed setting, and obtain direction finding parameter, described direction finding parameter comprises: the angle of each baseline and described fixed setting, the length that forms the phase differential that two bays of every baseline produce when obtaining electromagnetic wave signal, each baseline and mobile unit OBU when diverse location, each the incident angle that baseline gets;

Baseline angle measurement acquisition module, be used for according to length and the phase differential of described angle, each baseline, obtain described each base line projection to phase differential and length on described fixed setting, and according to the phase differential on described fixed setting and length, obtain the baseline angle measurement of described each baseline;

Direction finding angle acquisition module, for described each baseline angle measurement is weighted to fusion, and compare with described each the corresponding incident angle of baseline, obtain the value of the required weight parameter of Weighted Fusion, and obtain the direction finding angle of electromagnetic wave signal on described fixed setting according to the value of described weight parameter, realize the direction finding to vehicle.

8. device according to claim 7, is characterized in that, described baseline direction-finding device also comprises:

Memory module, for storing the value of described weight parameter, so that while carrying out baseline direction finding afterwards, according to the direction finding parameter again receiving and the value of described weight parameter, obtains the direction finding angle of electromagnetic wave signal on described fixed setting, realizes the direction finding to vehicle.

9. according to the device described in claim 7 or 8, it is characterized in that, described direction finding angle acquisition module comprises:

Integrated unit, is used to described each baseline angle measurement to set respectively a weight parameter, according to described weight parameter, baseline angle measurement described in each is weighted to fusion;

Weight parameter acquiring unit, for obtaining the fusion results of described baseline angle measurement and total square error of described incident angle, and obtains in described total square error hour the value of described each weight parameter;

Direction finding angle acquiring unit, for according to the value of described each weight parameter, obtains the value of described fusion results, and obtains the direction finding angle of described electromagnetic wave signal on described fixed setting according to the value of described fusion results.

10. a processor, is characterized in that, is integrated with the baseline direction-finding device described in claim 7 to 9 any one on the chip of described processor.

11. 1 kinds of drive test unit, is characterized in that, described drive test unit comprises background controller, and the processor of having the right described in 10 is set in described background controller.

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