OBU (On Board Unit) positioning method, positioning device and system based on DBF (Digital Beam Forming)
A positioning device and positioning method technology, applied in the field of intelligent transportation, can solve problems such as poor positioning accuracy, achieve the effects of reducing disputes, realizing precise positioning, and solving interference
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Embodiment 1
[0103] Figure 9 It is a schematic diagram of two RSU positioning devices in the embodiment of the present invention when they are on the same straight line, by Figure 9 It can be seen that in the first embodiment, the two RSU positioning devices are arranged on the same straight line, and the direction of the antenna line array is the same as the direction of the straight line where the two RSU positioning devices are located.
[0104] Figure 10 The schematic diagram for positioning the OBU when the two RSU positioning devices are in the same line, by Figure 10 It can be seen that in the XY plane, A and B are 2s apart and both are on the X axis, the coordinates of point A are (-s, 0), the coordinates of point B are (s, 0), and P(x 0 ,y 0 ) is a point on the plane, and the included angle α between PA, PB and X-axis can be obtained by DBF algorithm 1 and alpha 2 .
[0105] Let the slope of the straight line where PA is located be k 1 , the slope of the straight line w...
Embodiment 2
[0117] Set the three RSU positioning devices on the same straight line, the antenna line array direction of RSU positioning device 1 and RSU positioning device 2 is the same, along the X-axis direction, the antenna line array direction of RSU positioning device 3 is the Z-axis direction, as Figure 11 shown. Figure 12 The schematic diagram for positioning the OBU when the three RSU positioning devices are in the same line, by Figure 12 It can be seen that the direction of the antenna array at point A and B is in the same direction as the X axis, and the direction of the antenna array at point C is in the same direction as the Z axis. Therefore, the angle between PA, PB and X axis and the angle between PC and Z axis can be obtained. horn. The distance between A and B is 2s, then the coordinates of point A are (-s, 0, 0), the coordinates of point B are (s, 0, 0), point C is the origin, and the three-dimensional coordinates of point P (x 1 ,y 1 ,z 1 ) is the desired point. ...
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