CN104865077A - Vehicle driving deviation measuring method and system based on satellite real-time difference signals - Google Patents
Vehicle driving deviation measuring method and system based on satellite real-time difference signals Download PDFInfo
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- CN104865077A CN104865077A CN201510197189.2A CN201510197189A CN104865077A CN 104865077 A CN104865077 A CN 104865077A CN 201510197189 A CN201510197189 A CN 201510197189A CN 104865077 A CN104865077 A CN 104865077A
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Abstract
The invention relates to a vehicle driving deviation measuring method and system based on satellite real-time difference signals. Among two satellite receivers, one is arranged to be a mobile station, and the other is arranged to be a reference station. The satellite receiver of the reference station is placed at a reference station set point whole position information is already known nearby a test area, the satellite receiver of the mobile station is arranged at a fixed position on a detected vehicle, before a vehicle is driven into the test area and a test begins, the two satellite receivers are started, during the driving process of the vehicle, the two satellite receivers simultaneously receive signals emitted by the same satellite at the same time, and the satellite receiver of the reference station makes a comparison between received position information of the reference station and already known information, obtains a deviation distance and a deviation angle through a difference and error correction method, and displays a test result on a system control host computer and a mobile terminal. The system and method provided by the invention have the advantages of round-the-clock operation, high precision and high efficiency, and capability of monitoring the driving condition of the vehicle in a measuring process in real time and correcting deviation errors caused by the driving speed and the direction errors of the vehicle.
Description
Technical field
The present invention relates to information processing and Automatic Measurement Technique field, be specifically related to a kind of automobile driving running deviation track method for automatic measurement based on satellite real time differential signal and system.
Background technology
The fundamemtal phenomena of automobile driving running deviation be vehicle in the process of moving, can not straight ahead be kept, always will automatically be partial to certain direction.The reason of sideslip has a variety of, comprises the reason of vehicle self, also has the factor of road.Automobile driving running deviation, not only easily makes driver produce operation fatigue, and there are major safety risks, if sideslip very easily causes traffic hazard too much, so the driving running deviation amount detecting vehicle seems extremely important.
Traditional driving running deviation method of testing is as artificial observation method, watering localization method, detection means is more coarse, need a large amount of manpowers, demarcate complicated, efficiency is low, impact by environmental factors such as weather is comparatively large, and cannot detect the sideslip error that the speed of vehicle in detection zone in driving process and deflection error cause, and accuracy of measurement is low.
Some new running deviation value measuring methods were there is in recent years, as photogrammetry, sensor method, laser ranging method etc.But all more or less there is detection defect: in photogrammetry, because the camera in test cannot be arranged in the same coordinate system, cause system calibrating very complicated, the error that easy generation is larger, and the time shutter of camera is subject to the impact of tested car speed and environment illumination intensity, also produce test error; In sensor method, under sensor is embedded in road surface, test section, the maintenance of sensor bothers very much; There is certain error in the inceptive direction that laser ranging method records and end of a period direction.And above-mentioned all methods all cannot solve the problem of the running deviation value error that vehicle causes in the measuring speed error (± Δ V) measuring starting point travel speed and setting.
Summary of the invention
The technical problem to be solved in the present invention is the above-mentioned defect overcoming prior art, a kind of the automobile driving running deviation track method for automatic measurement based on satellite real time differential signal and system of round-the-clock high-accuracy high-efficiency rate are provided, the travel situations of vehicle in real-time control measurement process, the running deviation value measuring error that correction Vehicle Speed, deflection error cause.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
Based on an automobile driving running deviation measuring system for satellite real time differential signal, it is characterized in that: comprise area in preparation, test section, two satellite receiver, satellite earth antenna, wireless software download radio station, Test Host, mobile display terminal, wired or wireless LAN (Local Area Network); In two satellite receiver, one is set to movement station, and another is set to base station, and the satellite receiver of base station is placed on the known base station set point of test section positional information, and the satellite receiver of movement station is placed in fixed position on detected vehicle;
Described base station satellite receiver and movement station satellite receiver include satellite data acquisition device, microprocessor and wireless communicator, described satellite data acquisition device is sequentially connected with microprocessor and wireless communicator, described base station satellite receiver is connected with satellite-signal by satellite data acquisition device, described movement station satellite receiver is connected with satellite-signal, base station satellite receiver by satellite-signal collector, and Test Host is connected with movement station satellite receiver, mobile display terminal by wired or wireless LAN (Local Area Network); Described mobile display terminal also comprises the scanner for scanning vehicle identification code VIN (Vehicle IdentificationNumber, hereinafter referred VIN), and facilitates testing staff to check the display screen of testing result.
In technique scheme, the wireless software download radio station of base station is connected with the satellite receiver of base station, and the wireless software download radio station of base station receiving antenna and base station couples together; The wireless software download radio station of movement station is connected with the satellite receiver of movement station, and the wireless software download radio station of movement station receiving antenna and movement station couples together.
In technique scheme, described scanner is wireless handheld scanister.
In technique scheme, based on the automobile driving running deviation measuring system of satellite real time differential signal according to following works:
First, vehicle to be measured, in area in preparation, starts two satellite receiver and Test Host;
Then, vehicle enters test section with the travel speed arranged by area in preparation;
Vehicle is when test section, two receivers receive the signal of same time, same satellite launch simultaneously, the base station positional information received and known position information contrast by the satellite receiver of base station, obtain differential correcting value, and sending to the satellite receiver on detected vehicle by wireless station, the receiver on detected vehicle transfers data to Test Host after utilizing differential correcting value to carry out error correction to received data;
Test Host is according to desired ride track and the actual travel track of drawing out vehicle after Vehicle Speed, deflection error Modifying model driving trace measuring error; Find point P and Q with distance inlet point O point setpoint distance place on actual travel track on vehicle desired ride track respectively, the sideslip angle of vehicle is the difference of the orientation angle that O, Q 2 place's vehicles travel, sideslip distance is the distance between PQ, and result is shown on Test Host and mobile display terminal.
Adopt a measuring method for above-mentioned measuring system, it is characterized in that mainly comprising the steps:
S1: power initiation two satellite receiver opening base station and movement station, opens Test Host, and when vehicle to enter before test section in area in preparation, staff uses mobile display terminal that the VIN code of vehicle to be measured is sent to Test Host;
S2: vehicle to be measured accelerates to speed V to be detected gradually in area in preparation
0after, enter test section along road axis, after entering test section, keep bearing circle center position motionless, the speed of a motor vehicle is maintained V
0, wherein speed V to be detected
0determine according to type of vehicle;
S3: after entering test section, the satellite receiver of base station and movement station receives the signal of same time, same satellite launch simultaneously; Base station obtains base station position coordinates, and movement station obtains mobile station location coordinate;
S4: the base station position coordinates that satellite records by base station and known base station positional information contrast, obtain the differential correcting value of position coordinates, then the differential correcting value obtained is sent to mobile station receiver by the wireless software download radio station of base station;
S5: mobile station receiver is revised the mobile station location coordinate that it receives by differential correcting value, then data are sent to Test Host by wireless software download radio station;
S6: the detected vehicle that Test Host receives movement station transmission is followed successively by (X at the position coordinates of each check point
1, Y
1, Z
1), (X
2, Y
2, Z
2), (X
3, Y
3, Z
3) ..., corresponding speed is, V
1, V
2, V
3corresponding travel direction is γ
1, γ
2, γ
3the time interval of note receiver twice Received signal strength is △ T, then the sideslip angle of vehicle in △ T is followed successively by θ
1=(γ
2-γ
1), θ
2=(γ
3-γ
2), θ
3=(γ
4-γ
3) Pass through V
1, V
2, V
3and θ
1, θ
2, θ
3can obtain in △ T, the funtcional relationship θ=a+a of V and θ
1v+a
2v
2+ a
3v
3+ a
4v
4, obtained when V is V by functional relation
0time △ T in deflection angle theta
0;
S7: utilize the position coordinates of vehicle to draw out vehicle actual travel track, find vehicle to start the position of deviating road center line, be designated as sideslip starting point O, and utilize the θ obtained in S6
0v is departed to actual travel track medium velocity
0point correct, obtain revised driving trace curve;
S8: draw out vehicle in detection zone, do not produce sideslip situation under desired ride track, and find the some P at distance O point setpoint distance place;
S9: find the some Q along curve distance O point setpoint distance place on the revised actual travel geometric locus of vehicle;
S10: calculate deflection angle and deflection distance: the orientation angle that when deflection angle that vehicle runs in setpoint distance is O, Q 2, vehicle travels is poor, deflection distance is the distance between PQ, the result of computational analysis is shown on Test Host and mobile display terminal and stores;
S11: bicycle is completed;
S12: if proceed the test of next car, then repeat S1 ~ S9, otherwise powered-down and Test Host, terminate bicycle test.
In above-mentioned measuring process S2, car speed V to be detected
0for positive and negative 60km/h, truck speed V to be detected
0for positive and negative 40km/h.
In above-mentioned measuring process S8, described setpoint distance is 100m.
The invention provides the automobile driving running deviation measuring method based on satellite real time differential signal and system, satellite reception car-mounted terminal only need be fixed on the optional position on vehicle by detection person, monitoring host computer is sent to the VIN code of scanner scanning vehicle by wireless communication module, during detection, satellite reception base station receives own location information and utilizes microprocessor to calculate difference value, by wireless signal, this difference value is sent to satellite reception car-mounted terminal, satellite reception car-mounted terminal real-time reception own location information, and carry out position correction according to the difference value received, by wireless communication module, the positional information after correction is sent to monitoring host computer, monitoring host computer obtains the driving running deviation amount of vehicle by data processing software, and automobile driving running deviation amount and corresponding VIN code are presented on monitoring host computer, driving running deviation amount is sent in mobile display terminal by wireless communication module simultaneously.
The present invention is based on satellite real time differential signal, use the satellite receiver of 20Hz, receive the instantaneous position of vehicle, speed and direction, its mileage precision can reach centimetre-sized, velocity accuracy can reach 0.1km/h, by the correction to incident direction, calculates the sideslip distance that degree of accuracy is very high.The impact of the present invention's not climate environment etc. completely, really achieve daytime measurement, and running deviation value in the past calculates the reference position and the final position that all only considered sideslip, have no idea to solve during vehicle travels in sideslip test section the error that may exist, this method can correct the speed in driving process and the problem such as angle and misoperation, therefore relative to method in the past, result of calculation is more accurate.
Owing to adopting technique scheme, the present invention compared with prior art, has following major advantage:
1, structure is simple, easy for installation, only need install satellite reception car-mounted terminal on detected vehicle.
2, satellite inspection technique is applied to automobile driving running deviation to detect, due to satellite can registration of vehicle travel overall process, thus system can start the starting point of sideslip by automatic discrimination vehicle, avoid the error because tester's misoperation brings, and satellite can Real-time Feedback Vehicle Speed and travel direction, conveniently the travel speed error of vehicle is corrected, significantly improve measuring accuracy.Further, present invention employs RTK measuring technique, by difference method, difference value and coordinate can directly be provided by RTK measuring system, improve the measuring accuracy of vehicle driving trace, and the positioning precision for vehicle can reach centimetre-sized.
3, this invention removes the deflection error of vehicle when just entering test section, avoiding the measuring result error that deflection error when entering causes.
4, the present invention can the travel situations of vehicle in control measurement process in real time, in the Test Host processing procedure in later stage, find vehicle coordinate to start the point of deviating road center line, its previous point is the point of the initial sideslip of vehicle, avoid the operate miss that may bring of need loosing one's grip in a certain fixed position, this is that all detection methods in the past are not all considered.
5, the present invention can correct the impact of error on test result of the speed of a motor vehicle.
6, the present invention is not subject to the impact of external environment and weather, can round-the-clockly observe.
7, the present invention adopts automatic detection method, saves artificial, improves the efficiency of detection.
8, the instrument and equipment easy accessibility of the present invention's employing, is convenient to maintenance and management.
Therefore, the present invention has not by the advantage of measurement environment and weather effect, raising precision and efficiency of detecting.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention.
Fig. 2 is Signal transmissions flow process figure of the present invention.
Fig. 3 is trajectory analysis figure of the present invention.
Fig. 4 is method main flow chart of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described, the restriction not to its protection domain.
Embodiment 1
A kind of automobile driving running deviation measuring method based on satellite real time differential signal and system.This measuring system as Fig. 1, comprise be positioned at test section the vehicle to be measured 1 being loaded with satellite receiver, satellite 2, base station satellite receiver 3, base station wireless software download radio station 4, base station antenna 5, mobile display terminal 6, Test Host 7.
Movement station is the same with base station, is made up of satellite receiver, wireless software download radio station and antenna, is arranged in car and moves with vehicle.
Watch on-line and automobile driving running deviation track data analysis software Test Host be equipped with.
Test section length described in the present embodiment is L=L
1+ L
2(L
1for area in preparation, L
2for detection zone).
The satellite reception unit frequency that the present embodiment adopts is 20Hz.
As shown in Figure 3, the main flow of the automobile driving running deviation trajectory measurement method described in the present embodiment is:
S1 opens the power supply of base station and movement station satellite receiver, opens Test Host, and before vehicle enters test section, staff uses mobile display terminal 6 that the VIN code of vehicle to be measured is sent to Test Host 7;
S2 vehicle to be measured accelerates from the starting point of test section, at L
1inside accelerate to V
0, then keep V
0l is moved to along road axis
2in, unclamp both hands and keep bearing circle placed in the middle, with V
0speed at the uniform velocity at L
2interior traveling;
S3 base station and movement station satellite receiver receive the signal of same time, same satellite launch simultaneously, and the frequency of reception is 20Hz;
The base station position coordinates that satellite records by S4 base station and known base station positional information contrast, and obtain the differential correcting value of position coordinates, then the differential correcting value obtained are sent to mobile station receiver by wireless software download radio station;
S5 mobile station receiver is revised the mobile station location coordinate that it receives by differential correcting value, then data are sent to Test Host by wireless software download radio station;
S6: the position that Test Host receives each check point of vehicle that movement station sends is followed successively by (X
1, Y
1, Z
1), (X
2, Y
2, Z
2), (X
3, Y
3, Z
3) ... corresponding speed is V
1, V
2, V
3corresponding travel direction is γ
1, γ
2, γ
3the time interval of note receiver twice Received signal strength is △ T, then the sideslip angle of vehicle in △ T is followed successively by θ
1=(γ
2-γ
1), θ
2=(γ
3-γ
2), θ
3=(γ
4-γ
3) ... pass through V
1, V
2, V
3and θ
1, θ
2, θ
3can obtain in △ T, the funtcional relationship θ=a+a of V and θ
1v+a
2v
2+ a
3v
3+ a
4v
4, obtained when V is V by functional relation
0time △ T in deflection angle theta
0;
S7: utilize the position coordinates of vehicle to draw out vehicle actual travel track, find vehicle to start the position of deviating road center line, be designated as sideslip starting point O, and utilize the θ obtained in S6
0v is departed to actual travel track medium velocity
0point correct, obtain revised driving trace curve;
The world coordinates of S7 as Fig. 3, O point is (X
0, Y
0, Z
0), orientation angle is θ
o, be starting point with O, the ideal trajectory OM that vehicle does not produce sideslip if make, and the P point finding distance O point 100m, then P point coordinate (X
0+ 100, Y
0+ 100tan θ
0, Z
0), because measuring distance is shorter, approximate think have a Z coordinate identical;
S8 finds the Q point of distance O point 100m on revised driving trace, and note Q point coordinate is Q (X
q, Y
q, Z
q), its deflection is θ
q;
S9 vehicle keeps V in 100m
0the deflection distance at the uniform velocity travelled is PQ=Y
q-(Y
0+ 100tan θ
0);
S10 vehicle keeps V in 100m
0the deflection angle at the uniform velocity travelled is θ
q-θ
o;
The data of analysis show and store by S11 on Test Host and mobile display terminal;
S12 bicycle is completed;
If S13 carries out the test of next car, then repeat step S1 ~ S12, otherwise, terminate test;
S14 closes power supply and the Test Host of movement station and base station.
This embodiment compared with prior art, has following major advantage:
1, this embodiment adopts satellite navigation RTK technology, has very high measuring accuracy, and not by weather and environmental impact.
2, this embodiment all bus data acquisition and analyze be all automatic, decrease artificial amount.
3, this embodiment corrects the orientation angle that vehicle enters the detection zone moment, avoids the impact of vehicle entry angle on measurement result, improves measuring accuracy.
4, the present invention can the travel situations of vehicle in control measurement process in real time, does not require to loose one's grip in test section starting point, can to slip up the error brought by correct operation.
5, the present invention can correct the impact of speed of a motor vehicle error on test result.
6, the automatic checkout system of this embodiment employing, improves detection efficiency.
7, the instrument and equipment easy accessibility of the present invention's employing, is convenient to maintenance and management.
Therefore, this embodiment has the impact not by measurement environment and weather, and measuring accuracy is high, efficiency is large and save the features such as artificial.
Claims (7)
1. based on an automobile driving running deviation measuring system for satellite real time differential signal, it is characterized in that: comprise area in preparation, test section, two satellite receiver, satellite earth antenna, wireless software download radio station, Test Host, mobile display terminal, wired or wireless LAN (Local Area Network); In two satellite receiver, one is set to movement station, and another is set to base station, and the satellite receiver of base station is placed on the known base station set point of test section positional information, and the satellite receiver of movement station is placed in fixed position on detected vehicle;
Described base station satellite receiver and movement station satellite receiver include satellite data acquisition device, microprocessor and wireless communicator, described satellite data acquisition device is sequentially connected with microprocessor and wireless communicator, described base station satellite receiver is connected with satellite-signal by satellite data acquisition device, described movement station satellite receiver is connected with satellite-signal, base station satellite receiver by satellite-signal collector, and Test Host is connected with movement station satellite receiver, mobile display terminal by wired or wireless LAN (Local Area Network); Described mobile display terminal also comprises the scanner for scanning vehicle identification code VIN, and facilitates testing staff to check the display screen of testing result.
2. the automobile driving running deviation measuring system based on satellite real time differential signal according to claim 1, it is characterized in that: the wireless software download radio station of base station is connected with the satellite receiver of base station, the wireless software download radio station of base station receiving antenna and base station couples together; The wireless software download radio station of movement station is connected with the satellite receiver of movement station, and the wireless software download radio station of movement station receiving antenna and movement station couples together.
3. the automobile driving running deviation measuring system based on satellite real time differential signal according to claim 1, is characterized in that: described scanner is wireless handheld scanister.
4. the automobile driving running deviation measuring system based on satellite real time differential signal according to claim 1, is characterized in that: based on the automobile driving running deviation measuring system of satellite real time differential signal according to following works:
First, vehicle to be measured, in area in preparation, starts two satellite receiver and Test Host;
Then, vehicle enters test section with the travel speed arranged by area in preparation;
Vehicle is when test section, two receivers receive the signal of same time, same satellite launch simultaneously, the base station positional information received and known position information contrast by the satellite receiver of base station, obtain differential correcting value, and sending to the satellite receiver on detected vehicle by wireless station, the receiver on detected vehicle transfers data to Test Host after utilizing differential correcting value to carry out error correction to received data;
Test Host is according to desired ride track and the actual travel track of drawing out vehicle after Vehicle Speed, deflection error Modifying model driving trace measuring error; Find point P and Q with distance inlet point O point setpoint distance place on actual travel track on vehicle desired ride track respectively, the sideslip angle of vehicle is the difference of the orientation angle that O, Q 2 place's vehicles travel, sideslip distance is the distance between PQ, and result is shown on Test Host and mobile display terminal.
5. adopt a measuring method for the described measuring system of one of the claims, it is characterized in that mainly comprising the steps:
S1: power initiation two satellite receiver opening base station and movement station, opens Test Host, and when vehicle to enter before test section in area in preparation, staff uses mobile display terminal that the VIN code of vehicle to be measured is sent to Test Host;
S2: vehicle to be measured accelerates to speed V to be detected gradually in area in preparation
0after, enter test section along road axis, after entering test section, keep bearing circle center position motionless, the speed of a motor vehicle is maintained V
0, wherein speed V to be detected
0determine according to type of vehicle;
S3: after entering test section, the satellite receiver of base station and movement station receives the signal of same time, same satellite launch simultaneously; Base station obtains base station position coordinates, and movement station obtains mobile station location coordinate;
S4: the base station position coordinates that satellite records by base station and known base station positional information contrast, obtain the differential correcting value of position coordinates, then the differential correcting value obtained is sent to mobile station receiver by the wireless software download radio station of base station;
S5: mobile station receiver is revised the mobile station location coordinate that it receives by differential correcting value, then data are sent to Test Host by wireless software download radio station;
S6: the detected vehicle that Test Host receives movement station transmission is followed successively by (X at the position coordinates of each check point
1, Y
1, Z
1), (X
2, Y
2, Z
2), (X
3, Y
3, Z
3) ..., corresponding speed is, V
1, V
2, V
3... corresponding travel direction is γ
1, γ
2, γ
3...; The time interval of note receiver twice Received signal strength is △ T, then the sideslip angle of vehicle in △ T is followed successively by θ
1=(γ
2-γ
1), θ
2=(γ
3-γ
2), θ
3=(γ
4-γ
3) ...; Pass through V
1, V
2, V
3... and θ
1, θ
2, θ
3... can obtain in △ T, the funtcional relationship θ=a+a of V and θ
1v+a
2v
2+ a
3v
3+ a
4v
4, obtained when V is V by functional relation
0time △ T in deflection angle theta
0;
S7: utilize the position coordinates of vehicle to draw out vehicle actual travel track, find vehicle to start the position of deviating road center line, be designated as sideslip starting point O, and utilize the θ obtained in S6
0v is departed to actual travel track medium velocity
0point correct, obtain revised driving trace curve;
S8: draw out vehicle in detection zone, do not produce sideslip situation under desired ride track, and find the some P at distance O point setpoint distance place;
S9: find the some Q along curve distance O point setpoint distance place on the revised actual travel geometric locus of vehicle;
S10: calculate deflection angle and deflection distance: the orientation angle that when deflection angle that vehicle runs in setpoint distance is O, Q 2, vehicle travels is poor, deflection distance is the distance between PQ, the result of computational analysis is shown on Test Host and mobile display terminal and stores;
S11: bicycle is completed;
S12: if proceed the test of next car, then repeat S1 ~ S9, otherwise powered-down and Test Host, terminate bicycle test.
6. adopt a measuring method according to claim 5, it is characterized in that in measuring process S2, car speed V to be detected
0for positive and negative 60km/h, truck speed V to be detected
0for positive and negative 40km/h.
7. adopt a measuring method according to claim 5, it is characterized in that in measuring process S8, described setpoint distance is 100m.
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