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rsu installation parameter calibration method

A calibration method and installation parameter technology, applied in the field of measurement, can solve the problems of low accuracy of installation information, easy to be affected by windy weather, and difficult to measure the positional relationship accurately, so as to achieve accurate measurement, reduce the difficulty of engineering construction, and have strong adaptability Effect

Active Publication Date: 2017-11-10
BEIJING WANJI TECH
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Problems solved by technology

The accuracy of installation information measured by this method is not high
Using the plumb method to find the projection point is easily affected by windy weather, and when encountering a lane on a slope road surface, the projection point of the RSU on the road surface is not the same point as the point found by the plumb line, and the positional relationship between the RSU and the lane it is difficult to measure accurately

Method used

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Embodiment Construction

[0046] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0047] like figure 1As shown, the lane coordinate system XYZ is a coordinate system in which the plane of the lane is the XY plane, and the axis perpendicular to the plane of the lane is the Z axis, and any point on the plane of the lane is the coordinate origin O. The RSU coordinate system X'Y'Z' is a coordinate system established according to the characteristics of the RSU itself. The origin of the coordinates is the geometric center R related to the antenna unit on the antenna board of the RSU, and the X' and Z' coordinate axes are on the plane where the antenna board is located. , Y' is perpendicular to the plane of the antenna plate. The X' and Z' coordinate axes ar...

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Abstract

The invention relates to the technical field of measurement and discloses an RSU (Road Side Unit) installation parameter calibration method. The RSU installation parameter calibration method comprises the following steps: S1, selecting three calibration points on a lane plane by a calibration device, wherein the three calibration points are not on the same straight line; S2, sending microwave signals to an RSU by the calibration device at each calibration point, wherein the RSU is used obtaining the corresponding coordinate positions of the calibration points in a lane coordinate system; S3, respectively calculating direction angles (alpha, beta) of the three calibration points relative to the RSU by the RSU according to the received microwave signals which are transmitted at the three calibration points from the calibration device; and S4, calculating an installation position R (xR, yR and zR), a pitch angle A2 and a rotation angle A1 of the RSU in the lane coordinate system according to the direction angles of the calibration points and the coordinate positions of the calibration points in the lane coordinate system. The RSU installation parameter calibration method can be used for accurately measuring a position relation between the RSU and a lane.

Description

technical field [0001] The invention relates to the technical field of measurement, in particular to a calibration method for RSU installation parameters. Background technique [0002] In the ETC (Electronic Toll Collection, Electronic Toll Collection) system, it is necessary to accurately obtain the installation position and installation angle of the RSU (Road Side Unit, Road Side Unit). The existing calibration methods all use a meter ruler to measure the installation position, first use the plumb line to find the projection point of the RSU on the road surface, and then measure the position of the projection point away from the center line of the lane and the height of the RSU; use a level or an inclinometer to measure The installation angle of the RSU. The accuracy of installation information measured by this method is not high. Using the plumb method to find the projection point is easily affected by windy weather, and when encountering a lane on a slope road surface,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C15/00
CPCG01C15/00
Inventor 杨胜姚林志杰罗汉卿
Owner BEIJING WANJI TECH
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