CN116761255B - Vehicle positioning method and device - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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- 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]
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Abstract
The application relates to a vehicle positioning method and a device, comprising the following steps: confirming a positioning area based on a vehicle positioning instruction, acquiring three receiving signal sets of an a-th first positioning vehicle, calculating a receiving signal variance based on a receiving signal mean value, and constructing a screening relation according to the receiving signal mean value and the receiving signal variance; screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set; constructing a positioning relation of a first positioning vehicle of a first vehicle according to the target signal mean value, solving a first coordinate of the first positioning vehicle of the a first vehicle by utilizing the positioning relation, constructing a second positioning relation of a second positioning vehicle of the b vehicle based on the first coordinate, and constructing a target positioning relation; and obtaining a positioning distance, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate. The application can solve the problems of resource waste and inaccurate positioning generated when the vehicle is positioned.
Description
Technical Field
The application relates to the technical field of vehicle positioning, in particular to a vehicle positioning method and device.
Background
With the rapid development of economy, more and more automobiles are put into use in China. Unmanned techniques are widely applied in the automobile industry, and in order to ensure the safety of the unmanned techniques, it is important to accurately and timely locate vehicles correspondingly.
Current methods for vehicle positioning include: a large number of signal anchor nodes are preset in the environment, signals are transmitted to the vehicle to be positioned by using the large number of anchor nodes, and the vehicle is positioned by receiving the signals and analyzing the signals.
Although the method can realize the positioning of the vehicle, the vehicle which needs to be preset with a large number of anchor nodes in the environment and is positioned outside the preset environment cannot be positioned, and the error of the signal received by the vehicle to be positioned is not considered, so that the problems of resource waste and inaccurate positioning generated when the vehicle is positioned are caused.
Disclosure of Invention
The application provides a vehicle positioning method and device, and mainly aims to solve the problems of resource waste and inaccurate positioning generated when a vehicle is positioned.
In order to achieve the above object, the present application provides a vehicle positioning method, including:
receiving a vehicle positioning instruction, and confirming a positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals;
constructing a reference coordinate system, acquiring three received signal sets of an a-th first positioning vehicle, sequentially extracting the received signal sets from the three received signal sets, and executing the following operations on all the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set;
calculating a target signal mean value based on a target receiving signal set, constructing a positioning relation of an a-th first positioning vehicle according to the target signal mean value, and solving a first coordinate of the a-th first positioning vehicle by using the positioning relation;
constructing a second positioning relation of a b-th second positioning vehicle based on the first coordinates, and constructing a target positioning relation;
and obtaining a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between the first positioning vehicle of the a-th vehicle and the second positioning vehicle of the b-th vehicle, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the second positioning vehicle of the b-th vehicle, so that the positioning of the vehicles is realized.
Optionally, the acquiring three received signal sets of the a-th first positioning vehicle includes:
the method comprises the steps of obtaining the distance between an a-th first positioning vehicle and three nodes capable of sending out signals, obtaining signal sending frequencies of the three nodes capable of sending out signals based on the distance, and obtaining three receiving signal sets by utilizing the a-th first positioning vehicle to respectively receive receiving signals sent out by the three nodes capable of sending out signals based on a preset detection period and the signal sending frequencies, wherein the detection period of the three nodes capable of sending out signals is the same, and the calculation formula of the number of the receiving signals in each signal set in the three receiving signal sets is as follows:
；
wherein,for the detection period +.>A frequency is emitted for the signal.
Optionally, the calculating the received signal variance based on the received signal mean value is as follows:
；
wherein,representing the received signal variance.
Optionally, the screening relation is as follows:
；
wherein,representing a preset critical threshold.
Optionally, the screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set includes:
calculating the probability value of each received signal in the received signal set by using the screening relation and judging whether the probability value is in a preset range or not;
if the probability value is not in the preset range, rejecting the received signal corresponding to the probability value;
if the probability value is in the preset range, reserving a received signal corresponding to the probability value;
and summarizing the reserved received signals to obtain a target received signal set.
Optionally, the constructing the positioning relation of the a-th first positioning vehicle according to the target signal mean value includes:
the positioning relationship is as follows:
；
wherein,first->Mean value of individual target signals>The values of (2) and (3) are 1, 2 and +.>Representing the power of the received signal at a signal transmission distance of 1 meter, n being the environment-dependent path dissipation index,/for>Indicating a first positioning vehicle and a first positioning vehicle>Distance of the signalled nodes.
Optionally, the solving the first coordinate of the a-th first positioning vehicle by using the positioning relation is as follows:
；
；
；
wherein,first coordinate indicating a first positioning vehicle of a-th vehicle,/->First node coordinates representing the 1 st signalled node, +>Second node coordinates representing the 2 nd signalled node, +.>Third node coordinates representing the 3 rd signalled node, +.>For the distance between the a-th first positioning vehicle and the 1 st signalled node->For the distance between the a-th first positioning vehicle and the 2 nd signalable node->Is the distance between the a-th first positioning vehicle and the 3 rd signalled node.
Optionally, the second positioning relation is:
；
wherein,indicating the distance between the a-th first positioning vehicle and the b-th second positioning vehicle,/->Representing the coordinates of the b-th second locating vehicle.
Optionally, the target positioning relation is:
；
wherein,representing the propagation speed of the signal emitted by the a-th first positioning vehicle,/or->Time for signaling the a-th first positioning vehicle and the b-th second positioning vehicleA time difference value of a signal sent by the a-th first positioning vehicle is received.
In order to solve the above-mentioned problems, the present application also provides a vehicle positioning device, the device comprising:
the vehicle positioning instruction receiving module is used for receiving a vehicle positioning instruction and confirming a positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending out signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals;
the system comprises a received signal screening module, a first positioning vehicle and a second positioning vehicle, wherein the received signal screening module is used for constructing a reference coordinate system, acquiring three received signal sets of an a-th first positioning vehicle, sequentially extracting the received signal sets from the three received signal sets, and executing the following operations on all the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set;
the first positioning vehicle positioning module is used for calculating a target signal mean value based on a target receiving signal set, constructing a positioning relation of an a-th first positioning vehicle according to the target signal mean value, and solving a first coordinate of the a-th first positioning vehicle by using the positioning relation;
the second positioning vehicle positioning module is used for constructing a second positioning relation of a b-th second positioning vehicle based on the first coordinates and constructing a target positioning relation;
and obtaining a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between the first positioning vehicle of the a-th vehicle and the second positioning vehicle of the b-th vehicle, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the second positioning vehicle of the b-th vehicle, so that the positioning of the vehicles is realized.
In order to solve the problems described in the background art, the embodiment of the application receives the vehicle positioning instruction and confirms the positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and both the first positioning vehicles and the second positioning vehicles can receive and send signals. Further, vehicles outside the positioning area are considered, so that a foundation is laid for the subsequent positioning of the vehicles outside the positioning area. The method comprises the steps of calculating a received signal variance based on a received signal mean value, constructing a screening relation according to the received signal mean value and the received signal variance, screening and summarizing received signals in the received signal set based on the screening relation to obtain a target received signal set. Further, a screening relation is constructed, signals received by the vehicle are screened based on the screening relation, and accuracy of positioning the vehicle is improved. The method and the device for locating the vehicles in the locating area can locate the vehicles in the locating area and can locate the vehicles outside the locating area by utilizing the coordinates of the vehicles in the locating area. Therefore, the vehicle positioning method, the device, the electronic equipment and the computer readable storage medium can solve the problems of resource waste and inaccurate positioning generated when the vehicle is positioned.
Drawings
FIG. 1 is a flow chart of a vehicle positioning method according to an embodiment of the application;
FIG. 2 is a functional block diagram of a vehicle positioning device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device for implementing the vehicle positioning method according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The embodiment of the application provides a vehicle positioning method. The main execution body of the vehicle positioning method includes, but is not limited to, at least one of a server, a terminal and the like capable of being configured to execute the method provided by the embodiment of the application. In other words, the vehicle positioning method may be performed by software or hardware installed in a terminal device or a server device, and the software may be a blockchain platform. The service end includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Referring to fig. 1, a flow chart of a vehicle positioning method according to an embodiment of the application is shown. In this embodiment, the vehicle positioning method includes:
s1, receiving a vehicle positioning instruction, and confirming a positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals.
It should be explained that the node is a point capable of sending out a wireless signal and pre-constructing a position, and the positioning of the vehicle is completed according to the GPS system under the normal condition, but because the positioning of the GPS system is limited by factors such as network transmission, positioning precision, use range and the like, the GPS system cannot meet the requirement for positioning the vehicle under certain conditions, and therefore, the accurate positioning of the vehicle to be positioned needs to be completed according to the vehicle positioning instruction. The positioning area is a triangular area surrounded by three nodes capable of transmitting wireless signals. In addition, the coordinate positions of the three wireless signal sending nodes are known, and the coordinates of the three wireless signal sending nodes can be used for calculating and correcting the unknown coordinates, namely the vehicle positioning coordinates, so that the accuracy of positioning the vehicle to be positioned is enhanced.
It can be understood that the first positioning vehicle is a vehicle in the positioning area, the positioning coordinates of which can be calculated by the coordinates of three nodes capable of sending signals, and the second positioning vehicle is a vehicle outside the positioning area, and the positioning coordinates of the second positioning vehicle cannot be calculated by the coordinates of the three nodes capable of sending signals.
It should be noted that, because the area divided by the three nodes that can emit signals can be approximately treated as a plane, compared to the area having an arc on the earth's surface. The position information of the vehicle is thus processed into two-dimensional coordinate information when calculation is considered, and the positioning of the vehicle is calculated based on the two-dimensional coordinate information.
In detail, the first positioning vehicle and the second positioning vehicle can both receive and transmit signals, wherein the signals are wireless signals, on one hand, the first positioning vehicle can receive signals sent by three nodes capable of sending signals, on the other hand, the first positioning vehicle can send wireless signals to the second positioning vehicle, and the distance between the second positioning vehicle and the first positioning vehicle can be calculated through time required by the signals when the signals are transmitted, so that the positioning of the second positioning vehicle is realized.
Further, the positioning area is a triangular area defined by three nodes capable of sending out signals, and when the vehicle is located outside the positioning area, the number of coordinates of the vehicle solved based on the signals is not unique, so that the vehicle outside the positioning area cannot be positioned through the three nodes capable of sending out signals. In addition, the positioning of all vehicles in the area to be detected can be realized by reasonably arranging the positioning area in the area to be detected.
By way of example, the area to be detected is a 50×50 rectangular area, and positioning of all vehicles in the area to be detected is achieved by arranging three groups of positioning areas in the area to be detected.
S2, constructing a reference coordinate system, and acquiring three received signal sets of the a-th first positioning vehicle.
Further, the received signal sets are sequentially extracted from the three received signal sets, and the following operations are performed on each of the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
and screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set.
In detail, the acquiring three received signal sets of the a-th first positioning vehicle includes:
the method comprises the steps of obtaining the distance between an a-th first positioning vehicle and three nodes capable of sending out signals, obtaining signal sending frequencies of the three nodes capable of sending out signals based on the distance, and obtaining three receiving signal sets by utilizing the a-th first positioning vehicle to respectively receive receiving signals sent out by the three nodes capable of sending out signals based on a preset detection period and the signal sending frequencies, wherein the detection period of the three nodes capable of sending out signals is the same, and the calculation formula of the number of the receiving signals in each signal set in the three receiving signal sets is as follows:
；
wherein,for the detection period +.>A frequency is emitted for the signal.
It should be explained that the reference coordinate system is a coordinate system constructed based on three signalled nodes. Optionally, the coordinate system is a plane rectangular coordinate system. The signal sending frequency is the frequency of the received signal sent by three nodes which can send out signals. The signal emission frequency is related to the size of three distances, wherein the three distances are the distances between the a-th positioning vehicle and three nodes capable of emitting signals. If the distance is larger, the acquired signal sending frequency is higher, namely the number of times of sending signals in unit time is larger. Further, the larger the distance, the larger the error generated when the signal propagates, and therefore, the larger the number of signals to be screened.
It is understood that the propagation speed of the signal between the air approaches the light speed, so that the variation of the received signal is approximately 0 based on the preset detection period and the signal emission frequency, so that the vehicle running can be approximately treated as a stationary vehicle, and the position information when the vehicle is positioned can be calculated based on the stationary vehicle.
Further, the received signal variance is calculated based on the received signal mean, and the calculation formula is as follows:
；
wherein,representing the received signal variance.
It should be explained that the screening relation is as follows:
；
wherein,representing a preset critical threshold.
It should be noted that the critical threshold is a threshold set for screening the received signals in the received signal set, and the greater the critical threshold, the higher the screening degree of the received signals, i.e. the fewer the number of signals in the screened received signal set. The smaller the critical threshold, the lower the screening degree of the received signals, i.e. the more the number of signals in the screened received signal set.
Further, the screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set includes:
calculating the probability value of each received signal in the received signal set by using the screening relation and judging whether the probability value is in a preset range or not;
if the probability value is not in the preset range, rejecting the received signal corresponding to the probability value;
if the probability value is in the preset range, reserving a received signal corresponding to the probability value;
and summarizing the reserved received signals to obtain a target received signal set.
It should be explained that, the signal is affected by factors such as environment and weather in the process of propagation, so when calculating the first positioning vehicle of the a-th vehicle based on signal propagation, the signal in the received signal set needs to be screened to obtain a signal with smaller error, and the distance between the first positioning vehicle of the a-th vehicle and the node capable of sending out the signal currently is calculated based on the signal with smaller error, so as to improve the accuracy of the positioning result.
Illustratively, the 1 st signalled node has a total of 100 received signals with the received signals generated by the b first locating vehicles. The distance between the 1 st node capable of sending out signals and the b-th first positioning vehicle, which is directly calculated by using the 100 received signals, is 40 meters. After the 100 received signals are screened based on a preset screening relation, the number of signals contained in the target signal set is 60, and the distance between the 1 st node capable of sending out signals and the b first positioning vehicle, which is calculated by using the 60 signals in the screened target signal set, is 45 meters. The distance between the 1 st signalled node and the b-th first positioning vehicle is actually measured to be 45.3 meters. Therefore, the accuracy of vehicle positioning can be greatly improved by screening the signals of the received signal set.
And S3, calculating a target signal mean value based on the target received signal set, constructing a positioning relation of the a-th first positioning vehicle according to the target signal mean value, and solving a first coordinate of the a-th first positioning vehicle by using the positioning relation.
In detail, the target signal average value is an average value of target signals included in the target signal set. The first coordinates are coordinates of the a-th first positioning vehicle in the reference coordinate system. In addition, the method for calculating the target signal mean value based on the target received signal set is the same as the method for calculating the received signal mean value by using the received signals in the received signal set, and can produce the same effects, which are not described herein.
Further, the constructing a positioning relation of the a-th first positioning vehicle according to the target signal mean value includes:
the positioning relationship is as follows:
；
wherein,first->Mean value of individual target signals>The values of (2) and (3) are 1, 2 and +.>Representing the power of the received signal at a signal transmission distance of 1 meter, n being the environment-dependent path dissipation index,/for>Indicating a first positioning vehicle and a first positioning vehicle>Distance of the signalled nodes.
Further, the first coordinate of the a-th first positioning vehicle is solved by using the positioning relation, and the solving formula is as follows:
；
；
；
wherein,first coordinate indicating a first positioning vehicle of a-th vehicle,/->First node coordinates representing the 1 st signalled node, +>Second node coordinates representing the 2 nd signalled node, +.>Third node coordinates representing the 3 rd signalled node, +.>For the distance between the a-th first positioning vehicle and the 1 st signalled node->For the distance between the a-th first positioning vehicle and the 2 nd signalable node->Is the distance between the a-th first positioning vehicle and the 3 rd signalled node.
It should be noted that the path-dissipation index is an index of signal loss in a propagation path when a signal propagates. The first node coordinate is the coordinate of the first signalled node in the reference coordinate system, the second node coordinate is the coordinate of the second signalled node in the reference coordinate system, and the third node coordinate is the coordinate of the third signalled node in the reference coordinate system.
S4, constructing a second positioning relation of the b-th second positioning vehicle based on the first coordinates, and constructing a target positioning relation.
Further, the second positioning relation is:
；
wherein,indicating the distance between the a-th first positioning vehicle and the b-th second positioning vehicle,/->Representing the coordinates of the b-th second locating vehicle.
It should be explained that the target positioning relation is:
；
wherein,representing the propagation speed of the signal emitted by the a-th first positioning vehicle,/or->The time difference between the time when the signal is sent out by the first positioning vehicle of the a-th vehicle and the time when the signal sent out by the first positioning vehicle of the a-th vehicle is received by the second positioning vehicle of the b-th vehicle.
Further, before the second positioning relation is constructed based on the first coordinates, position information of all vehicles in the positioning area needs to be acquired, and after the distance between the a-th first positioning vehicle and the b-th second positioning vehicle is confirmed to be nearest based on the position information, the second positioning relation of the b-th second positioning vehicle is constructed based on the first coordinates. In addition, the closer the two vehicles are, the more accurate the result of the calculation is that the smaller the loss of the signal in the propagation process is.
S5, acquiring a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between an a-th first positioning vehicle and a b-th second positioning vehicle, and acquiring a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the b-th second positioning vehicle, so that the positioning of the vehicles is realized.
The target positioning relation represents a distance relation between the a-th first positioning vehicle and the b-th second positioning vehicle, and therefore, the distance between the a-th first positioning vehicle and the b-th second positioning vehicle can be solved by using the target positioning relation. In addition, the second positional relationship between the two vehicles is constructed using the signal between the vehicles and the time difference in signal reception, and therefore, the positional relationship of the two vehicles can be obtained by propagation of the signal. And solving the coordinates of the second positioning vehicle of the b-th vehicle based on the position relation, the first coordinates and the distance between the two vehicles to realize the positioning of the second positioning vehicle of the b-th vehicle.
Illustratively, the z-th first locating vehicle has coordinates of (1, 1), and the distance between the z-th first locating vehicle and the x-th second locating vehicle to be located isKilometers, and the xth second positioning vehicle is located in the direction of 45 degrees of the east-north direction of the z-th first positioning vehicle, the coordinates of the xth second positioning vehicle are (2, 2).
Therefore, the positioning area in the embodiment only has three nodes capable of sending out signals, so that the problem that a large number of nodes capable of sending out signals need to be paved in a vehicle positioning environment to realize vehicle positioning in the vehicle positioning environment is solved. Further, when the signal received by the vehicle is processed, an error signal generated by factors such as environment is considered, the target positioning relation is utilized to obtain the positioning distance, and the second coordinate is obtained according to the positioning distance, the second positioning relation and the first coordinate.
Fig. 2 is a functional block diagram of a vehicle positioning device according to an embodiment of the present application.
The vehicle positioning device 100 of the present application may be mounted in an electronic apparatus. Depending on the functions implemented, the vehicle positioning device 100 may include a vehicle positioning instruction receiving module 101, a received signal filtering module 102, a first positioning vehicle positioning module 103, and a second positioning vehicle positioning module 104. The module of the application, which may also be referred to as a unit, refers to a series of computer program segments, which are stored in the memory of the electronic device, capable of being executed by the processor of the electronic device and of performing a fixed function.
The vehicle positioning instruction receiving module 101 is configured to receive a vehicle positioning instruction, and determine a positioning area based on the vehicle positioning instruction, where the positioning area is a triangular area defined by three nodes capable of sending signals, the positioning area includes n first positioning vehicles, the positioning area includes p second positioning vehicles, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals;
the received signal screening module 102 is configured to construct a reference coordinate system, obtain three received signal sets of the a-th first positioning vehicle, sequentially extract the received signal sets from the three received signal sets, and perform the following operations on all the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set;
the first positioning vehicle positioning module 103 is configured to calculate a target signal average value based on a target received signal set, construct a positioning relation of the a-th first positioning vehicle according to the target signal average value, and solve a first coordinate of the a-th first positioning vehicle by using the positioning relation;
the second positioning vehicle positioning module 104 is configured to construct a second positioning relation of the b-th second positioning vehicle based on the first coordinate, and construct a target positioning relation;
and obtaining a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between the first positioning vehicle of the a-th vehicle and the second positioning vehicle of the b-th vehicle, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the second positioning vehicle of the b-th vehicle, so that the positioning of the vehicles is realized.
Fig. 3 is a schematic structural diagram of an electronic device for implementing a vehicle positioning method according to an embodiment of the present application.
The electronic device 1 may comprise a processor 10, a memory 11 and a bus, and may further comprise a computer program stored in the memory 11 and executable on the processor 10, such as the program 12 of the vehicle localization method described above.
The memory 11 includes at least one type of readable storage medium, including flash memory, a mobile hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may also comprise both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only for storing application software installed in the electronic device 1 and various types of data, such as codes of the vehicle positioning method program 12, but also for temporarily storing data that has been output or is to be output.
The processor 10 may be comprised of integrated circuits in some embodiments, for example, a single packaged integrated circuit, or may be comprised of multiple integrated circuits packaged with the same or different functions, including one or more central processing units (Central Processing unit, CPU), microprocessors, digital processing chips, graphics processors, combinations of various control chips, and the like.
Fig. 3 shows only an electronic device with components, it being understood by a person skilled in the art that the structure shown in fig. 3 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or may combine certain components, or may be arranged in different components.
The vehicle positioning method program 12 stored in the memory 11 in the electronic device 1 is a combination of instructions that, when executed in the processor 10, enable the vehicle positioning method described above to be implemented.
Specifically, the specific implementation method of the above instructions by the processor 10 may refer to descriptions of related steps in the corresponding embodiments of fig. 1 to 3, which are not repeated herein.
The present application also provides a computer readable storage medium storing a computer program which, when executed by a processor of an electronic device, can implement the above-described vehicle positioning method.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present application without departing from the spirit and scope of the technical solution of the present application.
Claims (8)
1. A vehicle positioning method, the method comprising:
receiving a vehicle positioning instruction, and confirming a positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals;
the first positioning vehicle is a vehicle which is positioned in a positioning area and can calculate positioning coordinates by coordinates of three nodes capable of sending signals, and the second positioning vehicle is a vehicle which is positioned outside the positioning area and cannot calculate the positioning coordinates by coordinates of the three nodes capable of sending signals; the first positioning vehicle and the second positioning vehicle can both receive and transmit signals; the first positioning vehicle may receive signals from three signalable nodes; the first locating vehicle may send a wireless signal to the second locating vehicle;
constructing a reference coordinate system, acquiring three received signal sets of an a-th first positioning vehicle, sequentially extracting the received signal sets from the three received signal sets, and executing the following operations on all the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set;
calculating a target signal mean value based on a target receiving signal set, constructing a positioning relation of an a-th first positioning vehicle according to the target signal mean value, and solving a first coordinate of the a-th first positioning vehicle by using the positioning relation;
constructing a second positioning relation of a b-th second positioning vehicle based on the first coordinates, and constructing a target positioning relation;
before constructing the second positioning relation based on the first coordinates, acquiring the position information of all vehicles in the positioning area, and after confirming that the distance between the a-th first positioning vehicle and the b-th second positioning vehicle is nearest based on the position information, constructing the second positioning relation of the b-th second positioning vehicle based on the first coordinates;
the second positioning relation is:
；
wherein,indicating the distance between the a-th first positioning vehicle and the b-th second positioning vehicle,/->Representing coordinates of a b-th second positioning vehicle;
the target positioning relation is as follows:
；
wherein,representing the propagation speed of the signal emitted by the a-th first positioning vehicle,/or->A time difference value between the time when the a-th first positioning vehicle sends out a signal and the time when the b-th second positioning vehicle receives the signal sent out by the a-th first positioning vehicle;
and obtaining a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between the first positioning vehicle of the a-th vehicle and the second positioning vehicle of the b-th vehicle, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the second positioning vehicle of the b-th vehicle, so that the positioning of the vehicles is realized.
2. The vehicle locating method according to claim 1, wherein the acquiring three received signal sets of the a-th first locating vehicle includes:
the method comprises the steps of obtaining the distance between an a-th first positioning vehicle and three nodes capable of sending out signals, obtaining signal sending frequencies of the three nodes capable of sending out signals based on the distance, and obtaining three receiving signal sets by utilizing the a-th first positioning vehicle to respectively receive receiving signals sent out by the three nodes capable of sending out signals based on a preset detection period and the signal sending frequencies, wherein the detection period of the three nodes capable of sending out signals is the same, and the calculation formula of the number of the receiving signals in each signal set in the three receiving signal sets is as follows:
；
wherein,for the detection period +.>A frequency is emitted for the signal.
3. The vehicle positioning method according to claim 1, wherein the received signal variance is calculated based on a received signal mean, and the calculation formula is as follows:
；
wherein,representing the received signal variance.
4. The vehicle positioning method according to claim 1, wherein the screening relation is as follows:
；
wherein,representing a preset critical threshold.
5. The vehicle positioning method according to claim 1, wherein the screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set includes:
calculating the probability value of each received signal in the received signal set by using the screening relation and judging whether the probability value is in a preset range or not;
if the probability value is not in the preset range, rejecting the received signal corresponding to the probability value;
if the probability value is in the preset range, reserving a received signal corresponding to the probability value;
and summarizing the reserved received signals to obtain a target received signal set.
6. The vehicle positioning method according to claim 1, wherein the constructing a positioning relation of the a-th first positioning vehicle according to the target signal mean value includes:
the positioning relationship is as follows:
；
wherein,first->Mean value of individual target signals>The values of (2) and (3) are 1, 2 and +.>Representing the power of the received signal at a signal transmission distance of 1 meter, n being the environment-dependent path dissipation index,/for>Indicating a first positioning vehicle and a first positioning vehicle>Distance of the signalled nodes.
7. The vehicle positioning method according to claim 1, wherein the solving the first coordinate of the a-th first positioning vehicle using the positioning relation is as follows:
；
；
；
wherein,first coordinate indicating a first positioning vehicle of a-th vehicle,/->First node coordinates representing the 1 st signalled node, +>Second node coordinates representing the 2 nd signalled node, +.>Third node coordinates representing the 3 rd signalled node, +.>For the distance between the a-th first positioning vehicle and the 1 st signalled node->For the distance between the a-th first positioning vehicle and the 2 nd signalable node->Is the distance between the a-th first positioning vehicle and the 3 rd signalled node.
8. A vehicle positioning device, the device comprising:
the vehicle positioning instruction receiving module is used for receiving a vehicle positioning instruction and confirming a positioning area based on the vehicle positioning instruction, wherein the positioning area is a triangular area defined by three nodes capable of sending out signals, n first positioning vehicles are included in the positioning area, p second positioning vehicles are included outside the positioning area, and the first positioning vehicles and the second positioning vehicles can both receive and transmit signals;
the first positioning vehicle is a vehicle which is positioned in a positioning area and can calculate positioning coordinates by coordinates of three nodes capable of sending signals, and the second positioning vehicle is a vehicle which is positioned outside the positioning area and cannot calculate the positioning coordinates by coordinates of the three nodes capable of sending signals; the first positioning vehicle and the second positioning vehicle can both receive and transmit signals; the first positioning vehicle may receive signals from three signalable nodes; the first locating vehicle may send a wireless signal to the second locating vehicle;
the system comprises a received signal screening module, a first positioning vehicle and a second positioning vehicle, wherein the received signal screening module is used for constructing a reference coordinate system, acquiring three received signal sets of an a-th first positioning vehicle, sequentially extracting the received signal sets from the three received signal sets, and executing the following operations on all the extracted received signal sets:
the mean value of the received signals is calculated by using the received signals in the received signal set, and the calculation formula is as follows:
；
wherein,for receiving signal mean value>For receiving signal set->The power of the received signals, m represents the number of received signals in the received signal set;
calculating a received signal variance based on the received signal mean, and constructing a screening relation according to the received signal mean and the received signal variance;
screening and summarizing the received signals in the received signal set based on the screening relation to obtain a target received signal set;
the first positioning vehicle positioning module is used for calculating a target signal mean value based on a target receiving signal set, constructing a positioning relation of an a-th first positioning vehicle according to the target signal mean value, and solving a first coordinate of the a-th first positioning vehicle by using the positioning relation;
the second positioning vehicle positioning module is used for constructing a second positioning relation of a b-th second positioning vehicle based on the first coordinates and constructing a target positioning relation;
before constructing the second positioning relation based on the first coordinates, acquiring the position information of all vehicles in the positioning area, and after confirming that the distance between the a-th first positioning vehicle and the b-th second positioning vehicle is nearest based on the position information, constructing the second positioning relation of the b-th second positioning vehicle based on the first coordinates;
the second positioning relation is:
；
wherein,indicating the distance between the a-th first positioning vehicle and the b-th second positioning vehicle,/->Representing coordinates of a b-th second positioning vehicle;
the target positioning relation is as follows:
；
wherein,representing the propagation speed of the signal emitted by the a-th first positioning vehicle,/or->A time difference value between the time when the a-th first positioning vehicle sends out a signal and the time when the b-th second positioning vehicle receives the signal sent out by the a-th first positioning vehicle;
and obtaining a positioning distance by utilizing a target positioning relation, wherein the positioning distance is the distance between the first positioning vehicle of the a-th vehicle and the second positioning vehicle of the b-th vehicle, and obtaining a second coordinate according to the positioning distance, the second positioning relation and the first coordinate, wherein the second coordinate is the coordinate of the second positioning vehicle of the b-th vehicle, so that the positioning of the vehicles is realized.
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