CN104865077B - Automobile driving running deviation measuring method and system based on satellite real time differential signal - Google Patents
Automobile driving running deviation measuring method and system based on satellite real time differential signal Download PDFInfo
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Abstract
The present invention relates to the automobile driving running deviation measuring method based on satellite real time differential signal and system, one is set to movement station in two DVBs, another is set to base station, the DVB of base station is placed on known to the beside's information of test section on base station set point, the DVB of movement station is placed in fixed position on detected vehicle, driven into vehicle before test section starts test and start two DVBs, two receivers receive the same time simultaneously in vehicle traveling, the signal of same satellite launch, the DVB of base station contrasts the base station positional information received and Given information, sideslip distance and sideslip angle are obtained by difference and error correcting method, and include test result in system control main frame and mobile terminal.With all weather operations and high-accuracy high-efficiency rate, and the travel situations of vehicle in measurement process, running deviation value error caused by amendment Vehicle Speed, deflection error can be monitored in real time.
Description
Technical field
The present invention relates to information processing and Automatic Measurement Technique field, and in particular to one kind is based on satellite real time differential signal
Automobile driving running deviation track method for automatic measurement and system.
Background technology
The fundamemtal phenomena of automobile driving running deviation be vehicle in the process of moving, it is impossible to keep straight ahead, it is always automatic
It is inclined to some direction in ground., there are many kinds the reason for sideslip, including the reason for vehicle itself, also there is the factor of road.Vehicle is travelled
Sideslip, not only easily makes driver produce operation fatigue, and there are major safety risks, if sideslip easily triggers traffic too much
Accident, so the driving running deviation amount of detection vehicle seems extremely important.
Traditional driving running deviation method of testing such as artificial observation method, watering positioning mode, detection means are relatively rough, it is necessary to big
The manpower of amount, demarcation is complicated, and efficiency is low, is influenceed larger by environmental factors such as weather, and vehicle can not be detected in detection zone
Sideslip error caused by the speed and deflection error in journey is inside run over, accuracy of measurement is low.
Some new sideslip measuring methods, such as photogrammetry, sensor method, laser ranging were occurred in that in recent years
Method etc..But it all more or less there is detection defect：In photogrammetry, because the camera in test can not be arranged on same sit
In mark system, cause system calibrating extremely complex, easily produce larger error, and camera time for exposure by tested vehicle
The influence of speed and environment illumination intensity, also produces test error；In sensor method, because sensor is embedded in test section road
Under face, the maintenance of sensor is bothered very much；There is certain error in the inceptive direction and end of a period direction that laser ranging method is measured.And
Above-mentioned all methods can not solve measuring speed error (± Δ V) of the vehicle in measurement starting point travel speed with setting and cause
Running deviation value error the problem of.
The content of the invention
The technical problem to be solved in the present invention is to overcome the drawbacks described above of prior art there is provided a kind of round-the-clock high accuracy
Efficient automobile driving running deviation track method for automatic measurement and system based on satellite real time differential signal, in real time monitoring measurement
During vehicle travel situations, amendment Vehicle Speed, running deviation value measurement error caused by deflection error.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of automobile driving running deviation measuring system based on satellite real time differential signal, it is characterised in that：Including area in preparation,
Test section, two DVBs, satellite earth antenna, wireless software download radio station, test main frame, mobile display terminal, have
Line or WLAN；One is set to movement station in two DVBs, and another is set to base station, and the satellite of base station connects
Receipts machine is placed on known to the positional information of test section on base station set point, and the DVB of movement station is placed on detected vehicle
Fixed position；
The base station DVB and movement station DVB include satellite data acquisition device, microprocessor and
Wireless communicator, the satellite data acquisition device is sequentially connected with microprocessor and wireless communicator, and the base station satellite connects
Receipts machine is connected by satellite data acquisition device with satellite-signal, the movement station DVB by satellite-signal collector with
Satellite-signal, the connection of base station DVB, test main frame by wired or wireless LAN and movement station DVB,
Mobile display terminal connection；The mobile display terminal also includes being used to scan vehicle identification code VIN (Vehicle
Identification Number, hereinafter referred VIN) scanner, and the display for facilitating testing staff to check testing result
Screen.
In above-mentioned technical proposal, the wireless software download radio station of base station is connected with the DVB of base station, benchmark
The stand wireless software download radio station of reception antenna and base station is connected；The wireless software download radio station of movement station and movement station
DVB be connected, the wireless software download radio station of movement station reception antenna and movement station is connected.
In above-mentioned technical proposal, the scanner is wireless handheld scanning means.
In above-mentioned technical proposal, the automobile driving running deviation measuring system based on satellite real time differential signal is according to following flow
Work：
First, vehicle to be measured starts two DVBs and test main frame in area in preparation；
Then, vehicle enters test section with the travel speed set by area in preparation；
Vehicle is at test section, and two receivers receive same time, the signal of same satellite launch simultaneously, base station
DVB contrasts the base station positional information received and known position information, obtains differential correcting value, and pass through nothing
Line radio station is sent to the DVB on detected vehicle, and the receiver being detected on vehicle is utilizing differential correcting value to institute
The data of reception transfer data to test main frame after carrying out error correction；
Test main frame after Vehicle Speed, deflection error Modifying model driving trace measurement error according to drawing out vehicle
Desired ride track and actual travel track；Distance on vehicle desired ride track and actual travel track is found respectively to enter
Point P and Q at access point O point setpoint distances, the sideslip angle of vehicle are the difference of the orientation angle that vehicle is travelled at the point of O, Q two,
Sideslip distance as the distance between PQ, and result is shown in test main frame and mobile display terminal.
A kind of measuring method using above-mentioned measuring system, it is characterised in that mainly comprise the following steps：
S1：Two DVBs of power initiation of base station and movement station are opened, test main frame is opened, vehicle, which enters, to be surveyed
When trying before area in area in preparation, the VIN codes of vehicle to be measured are sent to test main frame by staff using mobile display terminal；
S2：Vehicle to be measured is ramped up in area in preparation to speed V to be detected0Afterwards, test section is entered along road axis,
Into after test section, keep steering wheel center position motionless, speed is maintained into V0, wherein speed V to be detected0According to vehicle class
Type is determined；
S3：After test section is entered, the DVB of base station and movement station receives same time, same satellite simultaneously
The signal of transmitting；Base station obtains base station position coordinates, and movement station obtains mobile station location coordinate；
S4：The base station position coordinates that base station measures satellite is contrasted with known base station positional information, is obtained
To the differential correcting value of position coordinates, then obtained differential correcting value is sent by the wireless software download radio station of base station
To mobile station receiver；
S5：The mobile station location coordinate that mobile station receiver is received by differential correcting value to it is modified, then will
Data are sent to test main frame by wireless software download radio station；
S6：The detected vehicle that test main frame receives movement station transmission is followed successively by (X in the position coordinates of each test point1,
Y1,Z1),(X2,Y2,Z2),(X3,Y3,Z3) ..., corresponding speed is, V1,V2,V3... corresponding travel direction is γ1,
γ2,γ3……；The time interval that note receiver receives signal twice is △ T, then sideslip angle of the vehicle in △ T is followed successively by θ1
=(γ2-γ1),θ2=(γ3-γ2),θ3=(γ4-γ3)……；Pass through V1,V2,V3... and θ1,θ2,θ3... it can obtain
In △ T, V and θ functional relation θ=a+a1V+a2V2+a3V3+a4V4, obtained by functional relation when V is V0When △ T in deflection
Angle θ0；
S7：Vehicle actual travel track is drawn out using the position coordinates of vehicle, vehicle is found and begins to deviate from road-center
The position of line, is designated as sideslip starting point O, and utilize the θ obtained in S60V is deviateed to actual travel track medium velocity0Point carry out
Correction, obtains revised driving trace curve；
S8：Draw out vehicle and do not produce desired ride track in the case of sideslip in detection zone, and find and set apart from O points
Point P at set a distance；
S9：Find on the revised actual travel geometric locus of vehicle along the point Q at curve distance O point setpoint distances；
S10：Calculate deflection angle and deflection distance：When the deflection angle that vehicle is run in setpoint distance is O, Q 2
The orientation angle of vehicle traveling is poor, and deflection distance is the distance between PQ, will calculate the result of analysis in test main frame and movement
Show and store on display terminal；
S11：Bicycle is completed；
S12：If proceeding next car test, repeatedly S1~S9, otherwise closes power supply and test main frame, terminates single
Car is tested.
In above-mentioned measuring process S2, car speed V to be detected0For positive and negative 60km/h, truck speed V to be detected0For just
Negative 40km/h.
In above-mentioned measuring process S8, the setpoint distance is 100m.
The invention provides the automobile driving running deviation measuring method based on satellite real time differential signal and system, detection person is only
Satellite reception car-mounted terminal need to be fixed on to the optional position on vehicle, with the VIN codes of scanner scanning vehicle and by wireless
Communication module is sent to monitoring host computer, during detection, and satellite reception base station receives own location information and utilizes microprocessor meter
Difference value is calculated, the difference value is sent to by satellite reception car-mounted terminal by wireless signal, satellite reception car-mounted terminal connects in real time
Own location information is received, and position correction is carried out according to the difference value of reception, by wireless communication module by the position after correction
Information is sent to monitoring host computer, and monitoring host computer obtains the driving running deviation amount of vehicle by data processing software, and vehicle is travelled
Running deviation value and corresponding VIN codes are shown on monitoring host computer, while driving running deviation amount is sent to by wireless communication module
On mobile display terminal.
The present invention is based on satellite real time differential signal, with 20Hz DVB, receives instantaneous position, the speed of vehicle
Degree and direction, its mileage precision can reach Centimeter Level, and velocity accuracy can reach 0.1km/h, by being repaiied to incident direction
Just, accuracy very high sideslip distance is calculated.The not influence of climate environment etc. completely of the invention, is truly realized round-the-clock
Measurement, and conventional running deviation value calculates the original position and final position that only considered sideslip, solution vehicle of having no idea exists
Error that may be present in being travelled in sideslip test section, this method can be lost to the speed and angle during traveling and operation
By mistake the problems such as, is corrected, therefore relative to conventional method, result of calculation is more accurate.
Due to using above-mentioned technical proposal, the present invention compared with prior art, with following major advantage：
1st, it is simple in construction, easy for installation, only satellite reception car-mounted terminal need to be installed being detected on vehicle.
2nd, satellite inspection technique is detected applied to automobile driving running deviation, the full mistake that can be travelled due to satellite with registration of vehicle
Journey, so that system can start the starting point of sideslip with automatic discrimination vehicle, it is to avoid the mistake brought due to tester's operational error
Difference, and satellite can be with Real-time Feedback Vehicle Speed and travel direction, and the convenient travel speed error to vehicle carries out school
Just, measurement accuracy greatly improved.Further, present invention employs RTK e measurement technologies, by difference method, difference value and
Coordinate can be provided directly by RTK measuring systems, the measurement accuracy of vehicle driving trace be improved, for the positioning precision of vehicle
Centimeter Level can be reached.
3rd, the deflection error this invention removes vehicle when having just enter into test section, it is to avoid enter fashionable deflection error and draw
The measuring result error risen.
4th, the present invention can monitor the travel situations of vehicle in measurement process in real time, in the test main frame processing procedure in later stage
In find the point that vehicle coordinate begins to deviate from road axis, its previous point is the point that vehicle originates sideslip, it is to avoid needed
Loosed one's grip in a certain fixed position the operating error that may be brought, this is that conventional all detection methods are not all accounted for.
5th, the present invention can correct influence of the error to test result of speed.
6th, the present invention is not influenceed by external environment and weather, can be observed with round-the-clock.
7th, the present invention uses automatic detection method, saves manually, improves the efficiency of detection.
8th, the instrument and equipment convenient disassembly that the present invention is used, is easy to maintenance and management.
Therefore, the present invention has the advantages that not influenceed by measuring environment and weather, improves precision and efficiency of detecting.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is the transport stream signal journey figure of the present invention.
Fig. 3 is the trajectory analysis figure of the present invention.
Fig. 4 is the method main flow chart of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and detailed description, not to the limit of its protection domain
System.
Embodiment 1
A kind of automobile driving running deviation measuring method and system based on satellite real time differential signal.The measuring system such as Fig. 1,
Including the vehicle to be measured 1 for being loaded with DVB in test section, satellite 2, base station DVB 3, base station without
Line electricity Data-Link radio station 4, benchmark station antenna 5, mobile display terminal 6, test main frame 7.
Movement station is made up of as base station DVB, wireless software download radio station and antenna, is installed in the car
Moved with vehicle.
Watch on-line and automobile driving running deviation track data analysis software are housed in test main frame.
Test section length described in the present embodiment is L=L1+L2(L1For area in preparation, L2For detection zone).
The satellite reception unit frequency that the present embodiment is used 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 DVB, opens test main frame, and vehicle enters before test section, work
Make librarian use movement display terminal 6 and the VIN codes of vehicle to be measured are sent to test main frame 7；
S2 vehicles to be measured accelerate since the starting point of test section, in L1Inside accelerate to V0, then keep V0Transported along road axis
Go to L2It is interior, unclamp both hands and keep steering wheel placed in the middle, with V0Speed at the uniform velocity in L2Interior traveling；
S3 base stations and movement station DVB receive same time, the signal of same satellite launch simultaneously, reception
Frequency is 20Hz；
The base station position coordinates that S4 base stations measure satellite is contrasted with known base station positional information, is obtained
The differential correcting value of position coordinates, is then sent to movement station by wireless software download radio station by obtained differential correcting value and connects
Receipts machine；
The mobile station location coordinate that S5 mobile station receivers are received by differential correcting value to it is modified, then by number
Test main frame is sent to according to by wireless software download radio station；
S6：The position that test main frame receives each test point of vehicle of movement station transmission is followed successively by (X1,Y1,Z1),(X2,Y2,
Z2),(X3,Y3,Z3) ... corresponding speed is V1,V2,V3... corresponding travel direction is γ1,γ2,γ3... note is received
The time interval that machine receives signal twice is △ T, then sideslip angle of the vehicle in △ T is followed successively by θ1=(γ2-γ1),θ2=
(γ3-γ2),θ3=(γ4-γ3) ... pass through V1,V2,V3... and θ1,θ2,θ3... it can obtain in △ T, V and θ function
Relation θ=a+a1V+a2V2+a3V3+a4V4, obtained by functional relation when V is V0When △ T in deflection angle theta0；
S7：Vehicle actual travel track is drawn out using the position coordinates of vehicle, vehicle is found and begins to deviate from road-center
The position of line, is designated as sideslip starting point O, and utilize the θ obtained in S60V is deviateed to actual travel track medium velocity0Point carry out
Correction, obtains revised driving trace curve；
The world coordinates of S7 such as Fig. 3, O points is (X0,Y0,Z0), orientation angle is θO, using O as starting point, if making vehicle not
The ideal trajectory OM of sideslip is produced, and finds the P points apart from O points 100m, then P point coordinates (X0+100,Y0+100tanθ0,Z0),
Because measurement distance is shorter, a Z coordinate has been approximately considered identical；
S8 finds the Q points apart from O points 100m on revised driving trace, and note Q point coordinates is Q (XQ,YQ,ZQ), its direction
Angle is θQ；
S9 vehicles keep V in 100m0The deflection distance at the uniform velocity travelled as PQ=YQ-(Y0+100tanθ0)；
S10 vehicles keep V in 100m0The deflection angle at the uniform velocity travelled is θQ-θO；
The data of analysis are shown and stored in test main frame and mobile display terminal by S11；
S12 bicycles are completed；
If S13 carries out next car test, otherwise repeat step S1~S12, terminates test；
S14 closes the power supply and test main frame of movement station and base station.
Present embodiment compared with prior art, with following major advantage：
1st, present embodiment uses satellite navigation RTK technologies, with very high measurement accuracy, and not by weather and ring
Border influences.
2nd, all bus data acquisition of present embodiment and analysis be all automatic, reduce artificial amount.
3rd, present embodiment is corrected to the orientation angle that vehicle enters detection zone moment, it is to avoid vehicle enters
Enter influence of the angle to measurement result, improve measurement accuracy.
4th, the present invention can monitor the travel situations of vehicle in measurement process in real time, and not requiring must be in test section starting point pine
Hand, can be slipped up the error brought with correct operation.
5th, the present invention can correct influence of the speed error to test result.
6th, the automatic checkout system that present embodiment is used, improves detection efficiency.
7th, the instrument and equipment convenient disassembly that the present invention is used, is easy to maintenance and management.
Therefore, present embodiment, which has, is not influenceed by measuring environment and weather, measurement accuracy is high, efficiency is big and
The features such as saving artificial.
Claims (5)
1. a kind of measuring method of the automobile driving running deviation measuring system based on satellite real time differential signal, described real based on satellite
When differential signal automobile driving running deviation measuring system include：Area in preparation, test section, two DVBs, satellite receptions day
Line, wireless software download radio station, test main frame, mobile display terminal, wired or wireless LAN；One in two DVBs
Platform is set to movement station, and another is set to base station, and the DVB of base station is placed on benchmark known to the positional information of test section
Stand on set point, the DVB of movement station is placed in fixed position on detected vehicle；
The base station DVB and movement station DVB include satellite data acquisition device, microprocessor and wireless
Communicator, the satellite data acquisition device is sequentially connected with microprocessor and wireless communicator, the base station DVB
It is connected by satellite data acquisition device with satellite-signal, the movement station DVB passes through satellite-signal collector and satellite
Signal, the connection of base station DVB, test main frame pass through wired or wireless LAN and movement station DVB, movement
Display terminal is connected；The mobile display terminal also includes the scanner for being used to scan vehicle identification code VIN, and convenient detection people
Member checks the display screen of testing result；
It is characterized in that mainly comprising the following steps：
S1：Two DVBs of power initiation of base station and movement station are opened, test main frame is opened, vehicle enters test section
It is preceding in area in preparation when, the VIN codes of vehicle to be measured are sent to test main frame by staff using mobile display terminal；
S2：Vehicle enters test section with the travel speed set by area in preparation；Vehicle to be measured is ramped up in area in preparation to treating
Detection speed V0Afterwards, enter test section along road axis, into after test section, keep steering wheel center position motionless, by car
Speed maintains V0, wherein speed V to be detected0Determined according to type of vehicle；
S3：After test section is entered, the DVB of base station and movement station receives same time, same satellite launch simultaneously
Signal；Base station obtains base station position coordinates, and movement station obtains mobile station location coordinate；
S4：The base station position coordinates that base station measures satellite is contrasted with known base station positional information, is obtained in place
The differential correcting value of coordinate is put, obtained differential correcting value is then sent to shifting by the wireless software download radio station of base station
Dynamic station receiver；
S5：The mobile station location coordinate that mobile station receiver is received by differential correcting value to it is modified, then by data
Test main frame is sent to by wireless software download radio station；
S6：The detected vehicle that test main frame receives movement station transmission is followed successively by (X in the position coordinates of each test point1,Y1,
Z1),(X2,Y2,Z2),(X3,Y3,Z3) ..., corresponding speed is V1,V2,V3..., corresponding travel direction is γ1,
γ2,γ3......；The time interval that note receiver receives signal twice is △ T, then sideslip angle of the vehicle in △ T is followed successively by
θ1=(γ2-γ1),θ2=(γ3-γ2),θ3=(γ4-γ3)......；Pass through V1,V2,V3... and θ1,θ2,θ3......
It can obtain in △ T, V and θ functional relation θ=a+a1V+a2V2+a3V3+a4V4, obtained by functional relation when V is V0When △ T
Interior deflection angle theta0；
S7：Vehicle actual travel track is drawn out using the position coordinates of vehicle, vehicle is found and begins to deviate from road axis
Position, is designated as sideslip starting point O, and utilize the θ obtained in S60V is deviateed to actual travel track medium velocity0Point be corrected,
Obtain revised driving trace curve；
S8：Draw out vehicle and do not produce desired ride track in the case of sideslip in detection zone, and find apart from the setting of O points away from
From the point P at place；
S9：Find on the revised actual travel geometric locus of vehicle along the point Q at curve distance O point setpoint distances；
S10：Calculate deflection angle and deflection distance：The vehicle when deflection angle that vehicle is run in setpoint distance is O, Q 2
The orientation angle of traveling is poor, and deflection distance is the distance between PQ, and the result for calculating analysis is shown in test main frame and movement
Show and store in terminal；
S11：Bicycle is completed；
S12：If proceeding next car test, repeatedly S1~S9, otherwise closes power supply and test main frame, terminates bicycle and surveys
Examination.
2. the measurement side of the automobile driving running deviation measuring system according to claim 1 based on satellite real time differential signal
Method, it is characterised in that：The wireless software download radio station of base station is connected with the DVB of base station, base station reception antenna
Connected with the wireless software download radio station of base station；The wireless software download radio station of movement station and the satellite reception of movement station
Machine is connected, and the wireless software download radio station of movement station reception antenna and movement station is connected.
3. the measurement side of the automobile driving running deviation measuring system according to claim 1 based on satellite real time differential signal
Method, it is characterised in that：The scanner is wireless handheld scanning means.
4. the measurement side of the automobile driving running deviation measuring system according to claim 1 based on satellite real time differential signal
Method, it is characterised in that in measuring process S2, car speed V to be detected0For positive and negative 60km/h, truck speed V to be detected0For
Positive and negative 40km/h.
5. the measurement side of the automobile driving running deviation measuring system according to claim 1 based on satellite real time differential signal
Method, it is characterised in that in measuring process S8, the setpoint distance is 100m.
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| 基于GPS汽车道路试验系统软件开发;孙义杰;《中国优秀博硕士学位论文全文数据库（硕士）工程科技Ⅱ辑》;20060815(第8期);第18、31-38、53页 * |
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| CN104865077A (en) | 2015-08-26 |
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