CN116879930A - High-precision positioning method and device for public service vehicle - Google Patents
High-precision positioning method and device for public service vehicle Download PDFInfo
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- CN116879930A CN116879930A CN202310633841.5A CN202310633841A CN116879930A CN 116879930 A CN116879930 A CN 116879930A CN 202310633841 A CN202310633841 A CN 202310633841A CN 116879930 A CN116879930 A CN 116879930A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a high-precision positioning method of a public service vehicle, which comprises the following steps: acquiring GNSS observation data of a target vehicle, and calculating by a local terminal according to the GNSS observation data to obtain a single-point positioning result of the target vehicle; and acquiring the GDCORS differential data sent by the remote server, performing network RTK positioning by the local terminal according to the GDCORS differential data to obtain real-time high-precision position information of the target vehicle, and returning the real-time high-precision position information to the remote server. The beneficial effects of the invention are as follows: the GDCORS differential data sent by the remote server is obtained to perform local network RTK positioning, so that real-time high-precision position information of the target vehicle is obtained, various devices are not required to be interconnected in advance by a user, and the operation is simple.
Description
Technical Field
The invention relates to the technical field of high-precision positioning of vehicles, in particular to a high-precision positioning method and device for a public service vehicle.
Background
The satellite positioning service system (GDCORS) is a Beidou satellite multi-mode positioning service platform established and operated by Guangdong province, and can provide different levels of position service, satellite orbit service, time service, source data service and related information service through high-precision, multi-reference and full-coverage modern mapping reference construction and application service release.
Aiming at the actual service demand of GDCORS, the satellite navigation positioning reference service platform of Guangdong province is built around the Beidou No. three satellite navigation positioning in 2022. With the combination of the platform and Beidou satellite navigation and positioning technology and deeper combination of industries, particularly in the aspect of management of public service vehicles, the use and management of the public service vehicles require that the vehicles can determine the accurate positions and the vehicle states at any time due to the special properties of the public service vehicles, and ensure the safety of the vehicles during the task execution period so as to implement effective management, dispatch and rescue. The traditional management system has the problems of low positioning precision, strong equipment operation specialization, complex equipment connection, difficult operation and the like.
Disclosure of Invention
Aiming at the problems, the invention provides a high-precision positioning method and device for a public service vehicle, which mainly solve the problems of the background technology.
In order to solve the technical problems, a first aspect of the present invention provides a high-precision positioning method for a public service vehicle, which includes the following steps:
s1, acquiring GNSS observation data of a target vehicle, and calculating a single-point positioning result of the target vehicle by a local terminal according to the GNSS observation data;
s2, acquiring GDCORS differential data sent by a remote server, performing network RTK positioning by a local terminal according to the GDCORS differential data to obtain real-time high-precision position information of the target vehicle, and transmitting the real-time high-precision position information back to the remote server.
In some embodiments, the GNSS observation data includes pseudo-range data and carrier phase observation data, and the local terminal calculates the single-point positioning result of the target vehicle according to the pseudo-range data and the carrier phase observation data.
In some embodiments, S2 is preceded by further comprising information verification: and the local terminal sends a login request to the remote server, the remote server checks whether the login information of the user is correct, if so, the local terminal is allowed to establish connection with the remote server, and if wrong, the local terminal is disconnected with the remote server, and the user is forbidden to log in.
In some embodiments, after the local terminal establishes a connection with the remote server, the local terminal sends the single-point positioning result to the remote server, the remote server returns corresponding GDCORS differential data according to the single-point positioning result, and the local terminal performs network RTK differential positioning calculation according to the single-point positioning result and the GDCORS differential data, so as to obtain the real-time high-precision location information.
In some embodiments, the login information includes a server IP, a service port number, a user name, a password, and source node information.
In some embodiments, the method further comprises S3, collecting vehicle running information of the target vehicle, and the local terminal returns the real-time high-precision position information and the vehicle running information to the remote server.
In some embodiments, the real-time high-precision position information and the vehicle running information are encoded in different formats by the local terminal, and then corresponding data packets are generated and transmitted back to the remote server.
A second aspect of the present invention provides a high-precision positioning device for a public service vehicle, including:
the primary positioning module is used for acquiring GNSS observation data of the target vehicle, and the local terminal calculates a single-point positioning result of the target vehicle according to the GNSS observation data;
and the second-level positioning module is used for acquiring the GDCORS differential data sent by the remote server, carrying out network RTK positioning by the local terminal according to the GDCORS differential data to obtain the real-time high-precision position information of the target vehicle, and transmitting the real-time high-precision position information back to the remote server.
A third aspect of the present invention provides a high precision positioning device for a utility vehicle, the device comprising a memory, a processor and a communication module, wherein,
the memory is used for storing executable program codes;
the processor is coupled with the memory;
and the processor calls the executable program codes stored in the memory to execute the high-precision positioning method of the public service vehicle.
A fourth aspect of the present invention proposes the first aspect of the present invention to provide a computer-readable medium storing computer instructions for executing the above-mentioned high-precision positioning method of a utility vehicle when the computer instructions are called.
The beneficial effects of the invention are as follows: the GDCORS differential data sent by the remote server is obtained to perform local network RTK positioning, so that real-time high-precision position information of the target vehicle is obtained, various devices are not required to be interconnected in advance by a user, and the operation is simple.
Drawings
FIG. 1 is a flow chart of a high-precision positioning method for a public service vehicle according to an embodiment of the invention;
FIG. 2 is a flow chart of a high-precision positioning method for a service vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a high-precision positioning device for a public service vehicle according to a third embodiment of the present invention;
FIG. 4 is a block diagram of a high-precision positioning device for a service vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a high-precision positioning device for a public service vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present invention more clear and distinct. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
Example 1
The embodiment provides a high-precision positioning method for a public service vehicle, which is mainly used for carrying out local network RTK positioning by acquiring GDCORS differential data sent by a remote server, so that real-time high-precision position information of a target vehicle is obtained, various devices are not required to be interconnected in advance by a user, and the operation is simple.
As shown in fig. 1, the method comprises the following steps:
s1, acquiring GNSS observation data of a target vehicle, and calculating by a local terminal according to the GNSS observation data to obtain a single-point positioning result of the target vehicle.
In step S1, the GNSS observation data includes pseudo-range data and carrier phase observation data, and the local terminal calculates a single-point positioning result of the target vehicle according to the observation data. The single-point positioning by using the pseudo range is to measure the propagation time of the signal after the terminal receives the satellite signal, so as to calculate the distance between the receiver and the satellite. The position of the terminal, i.e. the single point positioning result, can be determined by using the distance measurement of more than 4 satellites. The aim is that, due to the RTK positioning principle, the approximate position of the terminal (which can be obtained through single-point positioning calculation) is known at first, and the server transmits the corresponding differential correction to the terminal to perform differential positioning.
Optionally, S101 is further included before S2, where S101 is an information verification step, configured to ensure information security of the remote server, and specifically: the local terminal sends a login request to the remote server, the remote server checks whether the login information of the user is correct, if so, the local terminal is allowed to be connected with the remote server, if so, the local terminal is disconnected with the remote server, and the user is forbidden to log in. The alternative scheme is used for establishing connection between the local terminal and the remote server, the login information comprises server IP, service port number, user name, password and source node information, and the login information needs to be input into the local terminal in advance.
In this embodiment, the local terminal refers to an operation module installed on a public service vehicle, such as an arm data processing module, or other microcomputer with an operation function. In addition, the remote server refers to a GDCORS system, and will not be described in detail.
S2, acquiring GDCORS differential data sent by the remote server, performing network RTK positioning by the local terminal according to the GDCORS differential data to obtain real-time high-precision position information of the target vehicle, and transmitting the real-time high-precision position information back to the remote server.
In step S2, the local terminal and the remote server need to perform at least one data interaction, that is, the local terminal receives the differential data from the GDCORS, and is configured to calculate the real-time high-precision position information locally, and return the real-time high-precision position information to the remote server, thereby completing the collection of the high-precision vehicle coordinates.
Specifically, after the local terminal establishes connection with the remote server, the local terminal sends a single-point positioning result to the remote server, the remote server returns corresponding GDCORS differential data according to the single-point positioning result, and the local terminal performs network RTK differential positioning calculation according to the single-point positioning result and the GDCORS differential data to obtain real-time high-precision position information. In this step, the remote server returns corresponding GDCORS differential data according to the single-point positioning result, and the local terminal needs to perform network RTK differential positioning calculation according to the single-point positioning result and the GDCORS differential data, so as to obtain real-time high-precision position information, and the principle thereof is specifically as follows: after receiving the single-point positioning result of the terminal, the server selects the nearest reference station, the error sources of the reference station and the terminal are similar, the terminal receives the differential correction broadcast by the server and the coordinates of the reference station, and differential positioning calculation is carried out, so that the common errors can be reduced or eliminated, the positioning precision is improved, and the centimeter-level position result of the official vehicle is accurately obtained in real time.
Example two
The embodiment provides a high-precision positioning method for a public service vehicle, as shown in fig. 2, comprising the following steps:
s1, acquiring GNSS observation data of a target vehicle, and calculating by a local terminal according to the GNSS observation data to obtain a single-point positioning result of the target vehicle.
S2, acquiring GDCORS differential data sent by a remote server, and performing network RTK positioning by the local terminal according to the GDCORS differential data to obtain real-time high-precision position information of the target vehicle.
The above steps S1-S2 refer to the description of the first embodiment, and the description of this embodiment is omitted.
And S3, collecting vehicle running information of the target vehicle, and transmitting the real-time high-precision position information and the vehicle running information back to the remote server by the local terminal.
In this embodiment, step S3 may further collect vehicle running information of the target vehicle, so as to serve a platform for finely managing and applying the official vehicle, thereby implementing efficient, convenient and fast use of the official vehicle and high-precision and finely managing the official vehicle.
The real-time high-precision position information and the vehicle running information are encoded in different formats at the local terminal, and then corresponding data packets are generated and transmitted back to the remote server. Specifically, the real-time high-precision position information obtained through calculation is encoded according to NMEA0183 protocol, and is transmitted back to a server by utilizing a wireless communication module; the vehicle running information is encoded according to JT808 protocol and is transmitted back to the server by using the wireless communication module. The vehicle position information and the vehicle running information are coded according to a general standard format for data transmission, and the server receives the data and can monitor and manage the data.
Example III
The embodiment provides a high-precision positioning device for a public service vehicle, as shown in fig. 3, including:
the primary positioning module 301 is configured to collect GNSS observation data of a target vehicle, and the local terminal calculates a single-point positioning result of the target vehicle according to the GNSS observation data;
the secondary positioning module 302 is configured to obtain GDCORS differential data sent by the remote server, and the local terminal performs network RTK positioning according to the GDCORS differential data, so as to obtain real-time high-precision location information of the target vehicle.
The data feedback module 303 collects the vehicle running information of the target vehicle, and the local terminal returns the real-time high-precision position information and the vehicle running information to the remote server.
The above-mentioned first-stage positioning module 301, second-stage positioning module 302 and data feedback module 303 are only hardware of functions included in the high-precision positioning method for a public service vehicle disclosed in the second embodiment, and the actual hardware devices are as follows:
the hardware adopted by the device mainly comprises a GNSS board card module, a vehicle OBD module and a communication module, and the hardware architecture of the device is shown in fig. 4. The vehicle OBD module acquires vehicle running information by acquiring GNSS observation data (Beidou observation data) through the GNSS board card, the local terminal (ARM data processing module) firstly performs single-point positioning through a satellite antenna, acquires GDCORS differential data of a remote server (GDCORS system) through the communication module, and performs network RTK positioning to obtain real-time high-precision position information of the vehicle.
The device is convenient to install, and is plug and play integrated equipment. The device integrates integrated equipment such as a GNSS board card module, a vehicle OBD module, a communication module and the like, and can be used after the vehicle is started after parameter information is configured.
Specifically, the vehicle OBD module obtains vehicle running information, and when the vehicle starts the engine, the OBD module detects engine ignition information, automatically searches the communication type of the target vehicle, establishes communication with the ECU of the target vehicle, obtains OBD data flow of the target vehicle, and calculates information such as accumulated mileage, instantaneous oil consumption, speed, direction and the like according to the obtained data.
Example IV
Referring to fig. 5, fig. 5 is a schematic structural diagram of a high-precision positioning device for a public service vehicle according to an embodiment of the invention. As shown in fig. 5, the apparatus may include:
a memory 501 in which executable program codes are stored;
a processor 502 coupled to the memory 501;
the processor 502 invokes executable program code stored in the memory 501 for performing the steps in the high precision positioning method of the service vehicle described in the first or second embodiment.
Example five
An embodiment of the present invention discloses a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the high-precision positioning method of a service vehicle described in the first or second embodiment.
The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a high-precision positioning method and device for a public service vehicle, which are disclosed by the embodiment of the invention and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. The high-precision positioning method for the public service vehicle is characterized by comprising the following steps of:
s1, acquiring GNSS observation data of a target vehicle, and calculating a single-point positioning result of the target vehicle by a local terminal according to the GNSS observation data;
s2, acquiring GDCORS differential data sent by a remote server, performing network RTK positioning by a local terminal according to the GDCORS differential data to obtain real-time high-precision position information of the target vehicle, and transmitting the real-time high-precision position information back to the remote server.
2. The high-precision positioning method of a service vehicle according to claim 1, wherein the GNSS observation data includes pseudo-range data and carrier phase observation data, and the local terminal calculates the single-point positioning result of the target vehicle according to the pseudo-range data and the carrier phase observation data.
3. The high-precision positioning method of a utility vehicle according to claim 1, wherein S2 is preceded by an information verification: and the local terminal sends a login request to the remote server, the remote server checks whether the login information of the user is correct, if so, the local terminal is allowed to establish connection with the remote server, and if wrong, the local terminal is disconnected with the remote server, and the user is forbidden to log in.
4. The method for locating a public service vehicle with high precision according to claim 3, wherein after the local terminal establishes a connection with the remote server, the local terminal sends the single-point locating result to the remote server, the remote server returns corresponding GDCORS differential data according to the single-point locating result, and the local terminal performs network RTK differential locating calculation according to the single-point locating result and the GDCORS differential data to obtain the real-time high-precision location information.
5. The high-precision positioning method of a utility vehicle according to claim 3, wherein the login information includes a server IP, a service port number, a user name, a password, and source node information.
6. The high-precision positioning method of a service vehicle according to claim 1, further comprising S3, collecting vehicle running information of the target vehicle, wherein the local terminal returns the real-time high-precision position information and the vehicle running information to the remote server.
7. The high-precision positioning method of a service vehicle according to claim 6, wherein the real-time high-precision position information and the vehicle running information are encoded in different formats by the local terminal, and then corresponding data packets are generated and transmitted back to the remote server.
8. A high-precision positioning device for a utility vehicle, comprising:
the primary positioning module is used for acquiring GNSS observation data of the target vehicle, and the local terminal calculates a single-point positioning result of the target vehicle according to the GNSS observation data;
and the second-level positioning module is used for acquiring the GDCORS differential data sent by the remote server, carrying out network RTK positioning by the local terminal according to the GDCORS differential data to obtain the real-time high-precision position information of the target vehicle, and transmitting the real-time high-precision position information back to the remote server.
9. A high-precision positioning device for a public service vehicle is characterized by comprising a memory, a processor and a communication module, wherein,
the memory is used for storing executable program codes;
the processor is coupled with the memory;
the processor invokes the executable program code stored in the memory to perform the high precision positioning method of the utility vehicle of any of claims 1-7.
10. A computer-storable medium storing computer instructions for performing the high precision positioning method of a utility vehicle according to any one of claims 1-7 when called.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310633841.5A CN116879930A (en) | 2023-05-31 | 2023-05-31 | High-precision positioning method and device for public service vehicle |
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| CN202310633841.5A CN116879930A (en) | 2023-05-31 | 2023-05-31 | High-precision positioning method and device for public service vehicle |
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| CN202310633841.5A Pending CN116879930A (en) | 2023-05-31 | 2023-05-31 | High-precision positioning method and device for public service vehicle |
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