A system and method for verifying geographic information accuracy in highway infrastructure modeling process

Abstract

The present application discloses a system and method for verifying the accuracy of geographic information in the process of modeling highway infrastructure. The system includes: a camera module, a positioning module, an encoder and a verification module; the camera module is used to photograph the marking lines along the vehicle's route during vehicle travel and generate marking line data; the positioning module is used to obtain the base station positioning data and the mobile station positioning data; the encoder is used to perform linkage control on the camera module and the positioning module; the verification module is used to obtain the relative position of the vehicle and verify the accuracy of geographic information of highway infrastructure. The method includes: photographing the marking lines along the vehicle's route during vehicle travel and generating marking line data; simultaneously obtaining the base station positioning data and the mobile station positioning data; obtaining the relative position of the vehicle based on the base station positioning data and the mobile station positioning data, and verifying the accuracy of geographic information of highway infrastructure in combination with the marking line data. The present application can achieve centimeter-level positioning accuracy.

Description

Technical Field

[0001] The present application belongs to the field of geographic information verification technology, and specifically relates to a system and method for verifying the accuracy of geographic information in a highway infrastructure modeling process. Background Art

[0002] Road transport is an important mode of passenger and freight transportation in my country, and road network construction has a huge role in promoting economic development.

[0003] In recent years, my country's highway network construction has developed rapidly, and the demand for highway infrastructure has become increasingly strong. Highway infrastructure, such as street lights, signboards, signal lights, safety fences, etc., greatly ensures the safety of drivers. However, these infrastructures are not installed on the road at will, but are installed and constructed in a targeted manner according to specific actual needs.

[0004] In the past, the installation location of traffic facilities was usually set on the construction planning model or map according to the road construction plan, or directly installed on the road as needed, and then marked on the road map or model. However, such installation or marking methods will cause very large errors in the geographical location accuracy of these infrastructures. As the saying goes, "a small error can lead to a big mistake." The accumulation of errors will further amplify the unreasonable installation location of the infrastructure, which will seriously affect the driver's safe driving. Therefore, the accuracy of the geographical location in the process of road infrastructure modeling becomes very important. However, the traditional satellite positioning method, due to its own positioning accuracy, still leads to very large errors in the installation location of the infrastructure. How to accurately locate these infrastructures is the research focus of technicians in this field. Summary of the invention

[0005] In order to solve the above problems, the present application discloses a system and method for verifying the geographic information accuracy in the highway infrastructure modeling process. Based on traditional satellite positioning and combined with RTK technology, the geographic location accuracy of the highway infrastructure is verified through the relative position of the vehicle during the vehicle driving process.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] A system for verifying the accuracy of geographic information in a highway infrastructure modeling process, comprising a camera module, a positioning module, an encoder and a verification module;

[0008] The camera module is used to photograph the marking lines along which the vehicle passes during the driving process, and generate marking line data;

[0009] The positioning module is used to obtain base station positioning data and mobile station positioning data;

[0010] The encoder is used to perform linkage control on the camera module and the positioning module;

[0011] The verification module is used to obtain the relative position of the vehicle according to the reference station positioning data and the mobile station positioning data, and to verify the geographic information accuracy of the highway infrastructure based on the relative position of the vehicle and the marking line data.

[0012] Preferably, the encoder sends a photo-taking instruction to the camera module and sends a positioning acquisition instruction to the positioning module according to the driving speed of the vehicle.

[0013] Preferably, the camera module includes a linear array camera and an image recognition unit;

[0014] The line array camera is used to take pictures according to the picture taking instruction to obtain a mark line image with the mark line;

[0015] The image recognition unit is used to perform image recognition on the mark line image to obtain the mark line data.

[0016] Preferably, the positioning module performs geographic positioning according to the positioning acquisition instruction, and the positioning module includes an RTK reference station unit and an RTK rover unit;

[0017] The RTK reference station unit is arranged at the reference station, and the RTK reference station unit is used to observe the navigation satellite, obtain the reference station positioning data, and send the reference station positioning data to the mobile station;

[0018] The RTK mobile station unit is arranged on the vehicle, and the RTK mobile station unit acquires the mobile station positioning data of the vehicle in real time through navigation satellites, and receives the base station positioning data forwarded by the RTK base station unit.

[0019] Preferably, the verification module includes a solution unit and a verification unit;

[0020] The solving unit is used to solve the relative position of the vehicle relative to the reference station based on the reference station positioning data and the mobile station positioning data according to the principle of relative positioning;

[0021] The verification unit is used to obtain the correction information of the highway infrastructure according to the relative position of the vehicle and the marking line data, and the correction information is used to verify the geographic information of the highway infrastructure and its accuracy.

[0022] On the other hand, to achieve the above purpose, the present application also provides a method for verifying the accuracy of geographic information in a highway infrastructure modeling process, comprising the following steps:

[0023] Photograph the marking lines that the vehicle passes through during driving and generate marking line data; at the same time, obtain the base station positioning data and the mobile station positioning data;

[0024] The relative position of the vehicle is acquired according to the reference station positioning data and the mobile station positioning data, and the geographic information accuracy of the highway infrastructure is verified based on the relative position of the vehicle and the marking line data.

[0025] Preferably, according to the photographing width of the linear array camera and the driving speed of the vehicle, the linear array camera is used to photograph the marking lines that the vehicle passes through during driving, so as to generate the marking line data.

[0026] Preferably, based on RTK technology, base station positioning data of the base station and rover positioning data of the vehicle are obtained;

[0027] Based on the base station positioning data and the mobile station positioning data, according to the principle of relative positioning, the relative position of the vehicle relative to the base station is calculated.

[0028] The beneficial effects of this application are:

[0029] The present application discloses a system and method for verifying the accuracy of geographic information in the process of highway infrastructure modeling. Based on traditional satellite positioning and combined with RTK technology, the relative position of the vehicle relative to the base station is calculated according to the principle of relative positioning during vehicle driving, and the geographical location and accuracy of the highway infrastructure are verified to achieve centimeter-level positioning accuracy. At the same time, the vehicle can also travel quickly, so the geographical location and accuracy of a larger number of infrastructure can be verified more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 This is a schematic diagram of the structure of a system for verifying the geographic information accuracy of a highway infrastructure modeling process according to Embodiment 1 of the present application;

[0032] Figure 2 This is a flow chart of a method for verifying geographic information accuracy in the highway infrastructure modeling process according to the second embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] Embodiment 1

[0036] like Figure 1 As shown, it is a schematic diagram of the structure of the geographic information accuracy verification system of the highway infrastructure modeling process of the first embodiment of the present application, which is mainly composed of a camera module, a positioning module, an encoder and a verification module.

[0037] Specifically, the camera module is used to photograph the marking lines along the vehicle's route during driving and generate marking line data; the positioning module is used to obtain the base station positioning data and the mobile station positioning data; the encoder is used to perform linkage control on the camera module and the positioning module; the verification module is used to obtain the relative position of the vehicle based on the base station positioning data and the mobile station positioning data, and verify the geographic information accuracy of the highway infrastructure based on the relative position of the vehicle and the marking line data.

[0038] The following is a detailed introduction to the structural composition and functional implementation of each functional module:

[0039] First, the encoder is introduced. The technical solution of this application determines the accuracy of the facility's geographical location by comparing the relative position of the highway infrastructure with the relative position calculated by satellite positioning data. Therefore, the infrastructure marker's geographical location and the satellite positioning data must be synchronized. In this embodiment, an encoder is used to control the camera module and the positioning module to keep the time points synchronized. The encoder calculates the shooting frequency of the linear array camera based on the vehicle's current speed, generates a shooting instruction, and the linear array camera captures the linear array image according to the shooting instruction. Currently, the shooting frequency of the linear array camera can reach 100KH Z , which can meet the high-speed driving state of the vehicle. When the encoder sends the shooting command to the linear array camera, it also generates a positioning acquisition command synchronously, and sends the positioning acquisition command to the positioning module to control the positioning module to collect the satellite positioning data corresponding to the shooting time of the linear array image.

[0040] In this embodiment, the camera module is composed of a line array camera and an image recognition unit.

[0041] Linear array cameras use linear array image sensors, and the images they capture are in the form of "lines" with a width of only a few pixels or even one pixel, resulting in an image consisting of a row of pixels. Using the camera characteristics of linear array cameras, two images at very close distances can be captured for ultra-high-precision distance judgment.

[0042] In this embodiment, the line array camera and the image recognition unit are installed on the vehicle. The shooting frequency of the line array camera should be coordinated with the driving speed of the vehicle to ensure that line array images with equal distance intervals can be captured at any speed.

[0043] As is known to all, the faster the vehicle speed, the farther the distance traveled per unit time. Therefore, the photo taking instruction and positioning acquisition instruction, as well as the unit distance of the photo, must be calculated based on the vehicle speed. The higher the vehicle speed, the larger the unit distance should be, but the greater the error caused by this. By lowering the vehicle speed, the unit distance can be shortened accordingly, which can further reduce the error. It can usually be set that the vehicle speed is 30m / s, the unit distance is 0.6cm, the vehicle speed is 20m / s, the unit distance is 0.4cm, and the vehicle speed is 10m / s, The unit distance is 0.2cm. In this embodiment, referring to the photographing width of the linear array camera, 0.2cm is set as a unit distance, and a marking line is set every 0.2cm on the road. The vehicle speed can be controlled within 15m / s. Every time the vehicle travels 0.2cm, the linear array camera will take a linear array image with a marking line, which is named the marking line image.

[0044] The line array image captured by the line array camera is processed by the image recognition unit to identify the marker lines in the image, their corresponding line numbers (each marker line is assigned a number), and the relative distance (the distance from the first marker line), which are collectively referred to as marker line data. The distance between any two marker lines can be calculated through the marker line data. The image recognition processing technology can adopt conventional image recognition technology, which will not be described in detail here.

[0045] Only with the identification of relative distance on the road and the identification of geographic location using satellite positioning data can the accuracy of the location information of highway infrastructure be verified. Therefore, satellite positioning data needs to be collected synchronously while the linear array camera is shooting.

[0046] In view of the current accuracy of satellite positioning data, in this embodiment, RTK technology is used to perform real-time differential analysis on conventional satellite timing data to obtain centimeter-level positioning accuracy.

[0047] In this embodiment, the positioning module includes an RTK base station unit and an RTK mobile station unit. The RTK base station unit is set at the base station. Specifically, a receiver is placed on the base station as the base station to continuously observe the navigation satellite, obtain the base station positioning data provided by the navigation satellite, and send it to the mobile station.

[0048] The RTK mobile station unit is installed on the vehicle. The mobile station GPS receiver receives GPS satellite signals and obtains the mobile station positioning data of the vehicle in real time. At the same time, it receives the base station positioning data forwarded by the RTK base station unit through the wireless receiving device.

[0049] In this embodiment, the verification module is also installed in the vehicle, including a solving unit and a verification unit, wherein the solving unit is connected to the RTK mobile station unit on the vehicle, and is used to solve the three-dimensional coordinates of the vehicle and their accuracy (i.e., the coordinate differences △X, △Y, △H between the base station and the mobile station, plus the WGS-84 coordinates of each point obtained by the base coordinates, and the plane coordinates X, Y and altitude H of each point of the mobile station are obtained through the coordinate conversion parameters) based on the base station positioning data and the mobile station positioning data, according to the principle of relative positioning, that is, the relative position of the vehicle relative to the base station.

[0050] The verification unit receives the marking line data sent by the camera module, calculates the relative distance the vehicle has traveled on the road, that is, the relative position of the highway infrastructure, and then converts the geographic information of the highway infrastructure relative to the base station based on the relative position of the vehicle (coordinate position) calculated by the RTK technology, which is recorded as correction information. The correction information can be used to verify the geographic information of the highway infrastructure. Furthermore, the difference between the correction information and the relative position of the highway infrastructure is used as accuracy information.

[0051] This embodiment, based on traditional satellite positioning, combines RTK technology and, during vehicle driving, calculates the relative position of the vehicle relative to the reference station based on the principle of relative positioning, verifies the geographical location and accuracy of the highway infrastructure, and can achieve centimeter-level positioning accuracy.

[0052] Embodiment 2

[0053] like Figure 2 As shown, it is a schematic diagram of the process of verifying the geographic information accuracy of the highway infrastructure modeling process in the second embodiment of the present application, which mainly includes the following two steps:

[0054] First, the marking lines along which the vehicle passes are photographed to generate marking line data; at the same time, the base station positioning data and the mobile station positioning data are obtained.

[0055] Specifically, in this embodiment, according to the photographing width of the linear array camera and the driving speed of the vehicle, the linear array camera is installed on the vehicle, and the linear array camera is used to photograph the marking lines along which the vehicle passes during driving to generate marking line data. Simultaneously, the satellite positioning data corresponding to the shooting time of the linear array camera is obtained.

[0056] In this embodiment, the positioning data is not directly provided by the navigation satellite, but is based on the RTK technology. A base station and a mobile station (installed on the vehicle) are set up. The base station continuously observes the satellite and obtains the base station positioning data provided to the base station by the navigation satellite. The mobile station on the vehicle synchronously receives the mobile station positioning data provided to the vehicle by the navigation satellite.

[0057] Then, based on the base station positioning data and the vehicle's rover positioning data, according to the principle of relative positioning, the relative position of the vehicle relative to the base station is solved, including the vehicle's three-dimensional coordinates and its accuracy (i.e., the difference between the base station and the rover coordinates △X, △Y, △H, plus the WGS-84 coordinates of each point obtained by the base coordinates, and the plane coordinates X, Y and altitude H of each point of the rover are obtained through the coordinate conversion parameters), that is, the relative position of the highway infrastructure relative to the base station, marked as correction information. Combined with the marking line data along the vehicle's route, the relative position of the geographical location of the highway infrastructure is converted, and the difference between it and the correction information can verify the accuracy of the geographical information of each highway infrastructure.

[0058] The embodiments described above are only descriptions of the preferred methods of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present application.

Claims

1. A system for verifying the accuracy of geographic information in the process of highway infrastructure modeling, characterized in that: It includes a camera module, a positioning module, an encoder and a verification module; The camera module is used to photograph the marking lines along which the vehicle passes during the driving process, and generate marking line data; The positioning module is used to obtain base station positioning data and mobile station positioning data; specifically, the positioning module performs geographic positioning according to the positioning acquisition instruction, and the positioning module includes an RTK base station unit and an RTK mobile station unit; the RTK base station unit is arranged at the base station, and the RTK base station unit is used to observe the navigation satellite, obtain the base station positioning data, and send the base station positioning data to the mobile station; the RTK mobile station unit is arranged at the vehicle, and the RTK mobile station unit obtains the mobile station positioning data of the vehicle in real time through the navigation satellite, and receives the base station positioning data forwarded by the RTK base station unit; The encoder is used to perform linkage control on the camera module and the positioning module. Specifically, the encoder sends a camera instruction to the camera module and sends a positioning acquisition instruction to the positioning module according to the driving speed of the vehicle; The verification module is used to obtain the relative position of the vehicle according to the base station positioning data and the mobile station positioning data, and to verify the accuracy of the geographic information of the highway infrastructure based on the relative position of the vehicle and the marking line data; specifically, the verification module includes a solution unit and a verification unit; the solution unit is used to solve the relative position of the vehicle relative to the base station based on the base station positioning data and the mobile station positioning data according to the principle of relative positioning; the verification unit is used to obtain the correction information of the highway infrastructure according to the relative position of the vehicle and the marking line data, and the correction information is used to verify the geographic information and accuracy of the highway infrastructure. Specifically, the verification unit receives the marking line data sent by the camera module, calculates the relative distance traveled by the vehicle on the road, that is, the relative position of the highway infrastructure, and then converts the geographic information of the highway infrastructure relative to the base station according to the relative position of the vehicle calculated by the RTK technology, which is recorded as the correction information. The correction information can be used to verify the geographic information of the highway infrastructure. Furthermore, the difference between the correction information and the relative position of the highway infrastructure is used as the accuracy information.

2. The system for verifying the accuracy of geographic information in the highway infrastructure modeling process according to claim 1, characterized in that: The camera module includes a linear array camera and an image recognition unit; The line array camera is used to take pictures according to the picture taking instruction to obtain a mark line image with the mark line; The image recognition unit is used to perform image recognition on the mark line image to obtain the mark line data.

3. A method for verifying the accuracy of geographic information in the process of highway infrastructure modeling, characterized in that: The steps include: Photograph the marking lines that the vehicle passes through during driving and generate marking line data; at the same time, obtain the base station positioning data and the mobile station positioning data; Acquiring a relative position of a vehicle according to the reference station positioning data and the mobile station positioning data, and verifying the accuracy of geographic information of highway infrastructure based on the relative position of the vehicle and the marking line data; Specifically, based on the RTK technology, a base station and a mobile station are set up. The mobile station is set on the vehicle. The base station continuously observes the satellite and obtains the base station positioning data provided by the navigation satellite to the base station. The mobile station on the vehicle synchronously receives the mobile station positioning data provided by the navigation satellite to the vehicle. Then, based on the base station positioning data and the vehicle's mobile station positioning data, according to the principle of relative positioning, the relative position of the vehicle relative to the base station is calculated. The vehicle relative position includes the three-dimensional coordinates of the vehicle and its accuracy, that is, the relative position of the highway infrastructure relative to the base station, marked as correction information, and then combined with the marking line data of the vehicle's route, the relative position of the geographical location of the highway infrastructure is converted. The difference between the relative position and the correction information can verify the accuracy of the geographic information of each highway infrastructure.

4. The method for verifying the accuracy of geographic information in the highway infrastructure modeling process according to claim 3 is characterized in that: According to the photographing width of the linear array camera and the driving speed of the vehicle, the linear array camera is used to photograph the marking line that the vehicle passes through during driving, and the marking line data is generated.

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