Fusion method of vehicle end positioning result and field end positioning result

Abstract

The invention belongs to the technical field of parking lot vehicle end positioning and field end positioning, and discloses a vehicle end positioning result and field end positioning result fusion method comprising the following steps: recording GPS positioning coordinates when a vehicle enters a basement, and uploading the coordinate position to a field library; the vehicle requests for positioning connection to the parking lot library and obtains parking lot library positioning; the vehicle uses an indoor and outdoor navigation technology to send positioning data to the driver client; the field library sends positioning to the vehicle, and the vehicle performs time matching in combination with self-positioning after obtaining the positioning; after timestamp matching is completed, the vehicle uses self-positioning matching field library positioning data; calculating a probability beta for each effective measurement by using probability data association, and calculating a new optimal measurement by combining the information of the probability beta; after matching is completed, a confirmation matrix and an interconnection matrix are calculated and fused; after fusion, the vehicle end sends positioning to the field library; and the parking lot library records the vehicle end positioning data as a backup.

Description

Technical Field

[0001] The present invention relates to the technical field of parking lot vehicle-side positioning and parking lot-side positioning, and more specifically, to a method for fusing vehicle-side positioning results with parking lot-side positioning results. Background Art

[0002] The existing method of integrating the positioning of underground garage vehicle and yard warehouse has some defects, mainly including the following aspects:

[0003] 1. Low positioning accuracy: Due to the complexity of the underground garage environment and signal blocking, the positioning accuracy of traditional positioning methods such as GPS often cannot meet actual needs, resulting in inaccurate vehicle positioning and affecting vehicle driving and parking.

[0004] 2. Poor signal stability: Since signal transmission in underground garages is blocked and interfered by multiple obstacles such as walls and the ground, the signal becomes unstable, affecting the positioning effect.

[0005] 3. Single positioning method: The existing methods for integrating underground car-side and yard-based positioning often only use one positioning method, such as GPS, Bluetooth, WiFi, etc. These methods have their own limitations and are difficult to meet the positioning needs in different scenarios.

[0006] 4. Poor real-time performance: The integration of underground vehicle and parking lot positioning requires real-time acquisition of vehicle and parking lot positioning information, and processing and integration of the information. However, due to technical limitations and network delays, existing methods often find it difficult to achieve real-time positioning.

[0007] 5. High cost: In order to improve positioning accuracy and stability, multiple positioning methods need to be integrated, which will increase equipment cost and complexity, and is not conducive to large-scale application and promotion.

[0008] To this end, the present application proposes a method for fusing vehicle-side positioning results with field-side positioning results to solve the above-mentioned problems. Summary of the invention

[0009] In order to solve the above problems, the present application provides a method for fusing vehicle-side positioning results with field-side positioning results.

[0010] The present application provides a method for fusing vehicle-side positioning results with field-side positioning results using the following technical solutions:

[0011] A method for fusing vehicle-side positioning results with field-side positioning results, characterized in that the method comprises the following steps:

[0012] A1. When the vehicle enters the basement, the GPS coordinates are recorded and uploaded to the basement;

[0013] A2. The vehicle requests a positioning connection from the warehouse and obtains the warehouse positioning;

[0014] A3. The vehicle uses indoor and outdoor navigation technology to send positioning data to the driver client;

[0015] A4. The depot sends the location to the vehicle, and the vehicle obtains the location and combines it with its own location to perform time matching.

[0016] A5. Timestamp matching is completed, and the vehicle uses its own positioning to match the station library positioning data;

[0017] A6. Use probabilistic data association to calculate a probability β for each valid measurement, and calculate a new optimal measurement based on its new information;

[0018] A7. After the matching is completed, the confirmation matrix and the interconnection matrix are calculated and merged;

[0019] A8. After fusion, the vehicle sends the location information to the yard;

[0020] A9. The yard records the vehicle positioning data as a backup.

[0021] Furthermore, the matching process in step A4 includes the following steps:

[0022] B1. Initialization: Set a vehicle reference timestamp to compare the timestamp of the field library data packet.

[0023] B2. Receive data packet: A field library data packet is received, which contains a timestamp.

[0024] B3. Calculate the time difference: Compare the timestamp of the received data packet of the field library with the reference timestamp of the vehicle and calculate the difference between them.

[0025] B4. Determine the time difference: Determine based on the value of the time difference;

[0026] B5. Update vehicle reference timestamp: If the vehicle-side data packet is accepted, the vehicle reference timestamp is updated to the timestamp of the yard data packet;

[0027] B6. Handling packet loss or disorder: If the time difference is a negative number, it means that there is packet loss or disorder, which needs to be handled. You can choose to wait for a while and then receive the data packet again, or discard the data packet;

[0028] B7. Continue receiving data packets: Return to step 2 and continue receiving the next data packet.

[0029] Through the above technical solution, the detailed timestamp matching process ensures the time consistency between the vehicle positioning data and the yard positioning data, thereby improving the positioning accuracy; the processing mechanism for packet loss or disorder enhances the stability of the system and maintains the continuity of positioning data even under poor network conditions.

[0030] Furthermore, the determination of the time difference in step B4 includes the following results:

[0031] If the time difference is 0, it means that the data packet is consistent with the reference timestamp and the data packet is accepted;

[0032] If the time difference is a positive number, it means that the timestamp of the data packet is later than the reference timestamp, and the data packet is accepted;

[0033] If the time difference is a negative number, it means that the timestamp of the data packet is earlier than the reference timestamp, and there is packet loss or disorder, which needs to be processed.

[0034] Through the above technical solution, the processing rules under different time difference conditions are clarified, so that the system can flexibly deal with time synchronization problems that may be encountered in actual communications; by accepting data packets with timestamps later than or equal to the reference timestamp, the freshness of the data is guaranteed, and at the same time, data packets earlier than the reference timestamp are processed to avoid the impact of outdated data on the positioning results.

[0035] Furthermore, the indoor and outdoor navigation technologies described in step A3 include vehicle Bluetooth and vehicle GPS navigation.

[0036] Through the above technical solutions, the introduction of indoor and outdoor navigation technology enables the vehicle to maintain continuous positioning capabilities when entering and leaving the underground garage, improving the seamlessness of navigation; the combined use of vehicle Bluetooth and GPS navigation can automatically switch to the most appropriate positioning method in different environments, optimizing positioning performance.

[0037] Furthermore, the method of requesting a positioning connection in step A2 includes vehicle Bluetooth and vehicle WIFI.

[0038] Through the above technical solution, the methods of requesting positioning connection are diversified, providing flexibility and selectivity, and the most appropriate connection method can be selected according to the specific environment of the vehicle and the depot; the use of vehicle Bluetooth and WIFI can provide stable and reliable positioning connection in different scenarios, enhancing the adaptability of the system and the selectivity of the user.

[0039] Furthermore, the optimal measurement calculated in step A6 includes the red point and the virtual point, and the formulas are:

[0040] Red point calculation formula:

[0041]

[0042] Virtual point calculation formula:

[0043]

[0044] According to the method for fusing vehicle-side positioning results and field-side positioning results according to claim 1, it is characterized in that: the calculation confirmation matrix formula, interconnection matrix formula and fusion formula in step A7 are respectively:

[0045] Confirmation matrix formula:

[0046]

[0047] Interconnection matrix formula:

[0048]

[0049] Fusion formula:

[0050]

[0051] In summary, the present application includes at least one of the following beneficial technical effects:

[0052] (1) It provides a comprehensive positioning method that enhances the robustness and accuracy of the positioning system by integrating the positioning data of the vehicle and the field.

[0053] (2) The real-time and reliability of positioning data are improved through timestamp matching and probabilistic data association;

[0054] (3) The fused positioning data can more accurately reflect the actual location of the vehicle, which is of great significance for improving the vehicle navigation and parking efficiency in underground garages. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the system structure of this application. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application; it is obvious that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0057] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0058] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] Example:

[0060] The following is combined with Figure 1 This application is described in further detail.

[0061] The embodiment of the present application discloses a method for fusing vehicle-side positioning results with field-side positioning results, characterized in that the method comprises the following steps:

[0062] A1. When the vehicle enters the basement, the GPS coordinates are recorded and uploaded to the basement;

[0063] A2. The vehicle requests a positioning connection from the warehouse and obtains the warehouse positioning;

[0064] A3. The vehicle uses indoor and outdoor navigation technology to send positioning data to the driver client;

[0065] A4. The depot sends the location to the vehicle, and the vehicle obtains the location and combines it with its own location to perform time matching.

[0066] A5. Timestamp matching is completed, and the vehicle uses its own positioning to match the station library positioning data;

[0067] A6. Use probabilistic data association to calculate a probability β for each valid measurement, and calculate a new optimal measurement based on its new information;

[0068] A7. After the matching is completed, the confirmation matrix and the interconnection matrix are calculated and merged;

[0069] A8. After fusion, the vehicle sends the location information to the yard;

[0070] A9. The yard records the vehicle positioning data as a backup.

[0071] Furthermore, the matching process in step A4 includes the following steps:

[0072] B1. Initialization: Set a vehicle reference timestamp to compare the timestamp of the field library data packet.

[0073] B2. Receive data packet: A field library data packet is received, which contains a timestamp.

[0074] B3. Calculate the time difference: Compare the timestamp of the received data packet of the field library with the reference timestamp of the vehicle and calculate the difference between them.

[0075] B4. Determine the time difference: Determine based on the value of the time difference;

[0076] B5. Update vehicle reference timestamp: If the vehicle-side data packet is accepted, the vehicle reference timestamp is updated to the timestamp of the yard data packet;

[0077] B6. Handling packet loss or disorder: If the time difference is a negative number, it means that there is packet loss or disorder, which needs to be handled. You can choose to wait for a while and then receive the data packet again, or discard the data packet;

[0078] B7. Continue to receive data packets: Return to step 2 and continue to receive the next data packet. The detailed timestamp matching process ensures the time consistency between the vehicle positioning data and the yard positioning data, thereby improving the positioning accuracy. The mechanism for handling packet loss or disorder enhances the stability of the system and maintains the continuity of positioning data even under poor network conditions.

[0079] See also Figure 1 , the time difference determination in step B4 includes the following results:

[0080] If the time difference is 0, it means that the data packet is consistent with the reference timestamp and the data packet is accepted;

[0081] If the time difference is a positive number, it means that the timestamp of the data packet is later than the reference timestamp, and the data packet is accepted;

[0082] If the time difference is a negative number, it means that the timestamp of the data packet is earlier than the reference timestamp, and there is packet loss or disorder, which needs to be processed; the processing rules under different time difference conditions are clarified, so that the system can flexibly deal with time synchronization problems that may be encountered in actual communications; by accepting data packets with timestamps later than or equal to the reference timestamp, the freshness of the data is guaranteed, and at the same time, data packets earlier than the reference timestamp are processed to avoid the impact of outdated data on the positioning results.

[0083] See also Figure 1 The indoor and outdoor navigation technologies in step A3 include vehicle Bluetooth and vehicle GPS navigation; the introduction of indoor and outdoor navigation technologies enables the vehicle to maintain continuous positioning capabilities when entering and leaving the underground garage, thereby improving the seamlessness of navigation; the combined use of vehicle Bluetooth and GPS navigation can automatically switch to the most appropriate positioning method in different environments, thereby optimizing the positioning performance.

[0084] See also Figure 1 ,The methods of requesting positioning connection in step A2 include vehicle Bluetooth and vehicle WIFI; ,The methods of requesting positioning connection are diverse, providing flexibility and selectivity, and the most suitable connection method can be selected according to the specific environment of the vehicle and the depot; ,The use of vehicle Bluetooth and WIFI can provide stable and reliable positioning ,connection in different scenarios, enhancing the adaptability of the system and the selectivity of the user.

[0085] See also Figure 1 In step A6, the optimal measurement includes the red points and the virtual points, and the formulas are:

[0086] Red point calculation formula:

[0087]

[0088] Virtual point calculation formula:

[0089]

[0090] See also Figure 1 , the calculation confirmation matrix formula, interconnection matrix formula and fusion formula in step A7 are:

[0091] Confirmation matrix formula:

[0092]

[0093] Interconnection matrix formula:

[0094]

[0095] Fusion formula:

[0096]

[0097] The implementation principle of a method for fusing vehicle-side positioning results with field-side positioning results in an embodiment of the present application is as follows:

[0098] The multi-positioning system on the vehicle side is integrated with the positioning system on the field side to improve the robustness and accuracy of the overall positioning on the vehicle side. The vehicle side can rely only on the positioning system on the field side, so that passenger cars without smart cockpits can also achieve underground parking positioning. If any positioning data is lost, the vehicle as a whole will not lose its positioning capability. The amount of calculation is small and it can be adapted to low-computing-power vehicle computers. The calculation accuracy of the vehicle computer is improved to the centimeter level. The fusion data is diversified.

[0099] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for fusing vehicle-side positioning results with field-side positioning results, characterized in that: The method comprises the following steps: A1. When the vehicle enters the basement, the GPS coordinates are recorded and uploaded to the basement; A2. The vehicle requests a positioning connection from the warehouse and obtains the warehouse positioning; A3. The vehicle uses indoor and outdoor navigation technology to send positioning data to the driver client; A4. The depot sends the location to the vehicle, and the vehicle obtains the location and combines it with its own location to perform time matching. A5. Timestamp matching is completed, and the vehicle uses its own positioning to match the station library positioning data; A6. Use probabilistic data association to calculate a probability β for each valid measurement, and combine it with the new information to calculate a new optimal measurement; A7. After the matching is completed, the confirmation matrix and the interconnection matrix are calculated and merged; A8. After fusion, the vehicle sends the location information to the yard; A9. The yard records the vehicle positioning data as a backup.

2. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 1, characterized in that: The matching process in step A4 includes the following steps: B1. Initialization: set a vehicle reference timestamp to compare the timestamp of the field library data packet; B2, receiving data packets: receiving a field library data packet, which contains a timestamp; B3. Calculate time difference: compare the timestamp of the received data packet of the field library with the reference timestamp of the vehicle and calculate the difference between them; B4. Determine the time difference: Determine based on the value of the time difference; B5. Update vehicle reference timestamp: If the vehicle-side data packet is accepted, the vehicle reference timestamp is updated to the timestamp of the yard data packet; B6. Handling packet loss or disorder: If the time difference is a negative number, it means that packet loss or disorder exists and needs to be handled; wait for a while and then receive the data packet again or discard the data packet; B7. Continue receiving data packets: Return to step 2 and continue receiving the next data packet.

3. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 2, characterized in that: The determination of the time difference in step B4 includes the following results: If the time difference is 0, it means that the data packet is consistent with the reference timestamp and the data packet is accepted; If the time difference is a positive number, it means that the timestamp of the data packet is later than the reference timestamp, and the data packet is accepted; If the time difference is a negative number, it means that the timestamp of the data packet is earlier than the reference timestamp, and there is packet loss or disorder, which needs to be processed.

4. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 1, characterized in that: The indoor and outdoor navigation technologies described in step A3 include vehicle Bluetooth and vehicle GPS navigation.

5. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 1, characterized in that: The method of requesting a positioning connection in step A2 includes vehicle Bluetooth and vehicle WIFI.

6. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 1, characterized in that: The optimal measurement calculated in step A6 includes the red point and the virtual point, and the formulas are: Red point calculation formula: Virtual point calculation formula:

7. The method for fusing vehicle-side positioning results with field-side positioning results according to claim 1, characterized in that: The calculation confirmation matrix formula, interconnection matrix formula and fusion formula in step A7 are: Confirmation matrix formula: Interconnection matrix formula: Fusion formula:

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