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Device and method for cloud estimation of arbitrary tunnel internal point passing speed models

A technology of velocity model and tunnel model, which is applied in the direction of navigation, measurement device, and navigation calculation tool through velocity/acceleration measurement, which can solve the problems of increasing equipment cost, volume, and poor accuracy of forward velocity, etc., and achieve enhanced navigation position Estimated accuracy, effect of suppressing forward error divergence

Active Publication Date: 2018-10-26
QIANXUN SPATIAL INTELLIGENCE INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the poor accuracy of the forward speed derived by the inertial navigation algorithm, the traditional method needs to obtain the speed indirectly by means of odometer, image assistance, etc., and requires additional electronic devices, such as odometer, magnetometer, camera, radar, etc. to obtain the forward direction of the vehicle. Speed, increase equipment cost, volume

Method used

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  • Device and method for cloud estimation of arbitrary tunnel internal point passing speed models
  • Device and method for cloud estimation of arbitrary tunnel internal point passing speed models
  • Device and method for cloud estimation of arbitrary tunnel internal point passing speed models

Examples

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Embodiment 1

[0035] figure 1 It is a flow chart of the method for estimating the passing speed model of any point in the tunnel in the cloud according to the first embodiment of the present invention, including the following steps:

[0036] Step S1, collect tunnel data offline, collect a positioning point (real longitude and latitude point) at a certain distance (preferably 30m) in the tunnel, and then abstract the tunnel point map through the connectivity between points, preferably through GeoHash (or other ) coding method, which codes and indexes all tunnel points. GeoHash is a geographic information coding method.

[0037] Step S2, when the algorithm module in the vehicle judges that it is possible to enter the tunnel by detecting signal occlusion (GNSS signal loss), it sends the current latitude and longitude to the cloud, and the cloud will match the reported latitude and longitude with the tunnel point indexed in step S1. The speed model parameters of the tunnel, after the device en...

Embodiment 2

[0048] figure 2 It is a structural diagram of the method for estimating the passing speed model of any point in the tunnel in the cloud according to the first embodiment of the present invention, including:

[0049] The tunnel point encoding unit is used to encode the tunnel point map, and index all tunnel points through coding, and the tunnel point map is abstracted by positioning the connectivity between point points;

[0050] a tunnel point matching unit, configured to match based on the tunnel point and the latitude and longitude received by the cloud;

[0051] The model parameter sending unit is used to send the model parameters successfully after matching the tunnel point with the longitude and latitude received from the cloud;

[0052] The model parameter collection unit is used to collect vehicle tunnel model parameters of different vehicles to form a model set, perform mean filtering on the model set to obtain tunnel model parameters, and update the model parameters...

Embodiment 3

[0054] The present invention also provides a memory, the memory stores a computer program, and the computer program is executed by the processor as follows:

[0055] Collect tunnel data, and collect positioning points at intervals in the tunnel, that is, latitude and longitude points, abstract the tunnel point map through the connectivity between the point points, encode the point map of the tunnel, and index all tunnel points through coding;

[0056] After detecting that the GNSS signal is lost, the device determines that the vehicle has entered the tunnel, and reports the current latitude and longitude of the vehicle to the cloud. The cloud will match the received latitude and longitude with the indexed tunnel point. If the match is successful, the model parameters will be issued. If the match is unsuccessful Then the device continues to detect the GNSS signal;

[0057] After judging that the vehicle enters the tunnel, the device side continuously checks whether the GNSS sig...

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Abstract

The invention provides a device and method for cloud estimation of arbitrary tunnel internal point passing speed models. The method includes: acquiring tunnel data, acquiring positioning tracing points in a tunnel, coding the tunnel tracing points, and indexing all tunnel points through coding; after GNSS signal loss is detected, judging that a vehicle starts to enter the tunnel, reporting currentlongitude and latitude to the cloud for matching, distributing model parameters if matching is successful, and otherwise, continuing detection; after judging that the vehicle enters the tunnel, detecting whether the GNSS signals are recovered or not, and if yes, reporting information to the cloud by an equipment terminal, matching the reported information with tunnel points by the cloud, recording the reported information if matching is determined, and otherwise, continuing detection by the equipment terminal; acquiring vehicular speed, filtering out outliers to form a speed set, and performing average filtering and curve fitting; acquiring vehicular tunnel model parameters of different vehicles to form a model set, and subjecting the model set to average filtering to obtain tunnel modelparameters.

Description

technical field [0001] The present invention relates to the technical field of speed model estimation, in particular to a method and device for estimating a passing speed model of any point in a tunnel on the cloud. Background technique [0002] VDR (Vehicle Dead Reckoning, Vehicle Dead Reckoning) technology can continue positioning through dead reckoning when GPS (Global Positioning System, Global Positioning System) signal is lost (under elevated roads, tunnels, underground garages, etc.), and it can be integrated with GPS positioning technology Improve positioning efficiency. Due to the accuracy of inertial navigation (that is, inertial navigation, an autonomous navigation system that does not rely on external information and does not radiate energy to the outside) device itself and algorithm errors, in the tunnel, without GPS assistance, the positioning accuracy of VDR will vary. The passage of time decreases rapidly. If the length of the tunnel and the speed of the veh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/49
CPCG01C21/165G01C21/20G01S19/49Y02T10/40
Inventor 丁源熊
Owner QIANXUN SPATIAL INTELLIGENCE INC
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