Vehicle positioning correction method and system

Abstract

The invention relates to the field of vehicle positioning, and discloses a vehicle positioning correction method and system, in order to improve the accuracy of unmanned vehicles during transportation task execution in an industrial park, the method comprises the following steps: firstly, setting a plurality of vehicle driving reference points in the park, and installing an RFID electronic tag at each vehicle driving reference point; then, a positioning sensor and an RFID card reader are installed on each vehicle, the positioning sensor is used for measuring real-time position information of the vehicle, and the RFID card reader and the RFID electronic tag are used for measuring pre-collected position information of the vehicle, namely, the distance between the vehicle and the reference point when the vehicle approaches the reference point; calculating the positioning deviation of the vehicle at each reference point according to the real-time position information of the vehicle and the pre-collected position information of the vehicle, and judging whether the vehicle positioning is corrected or not according to whether the positioning deviation accords with a set standard value or not.

Description

Technical Field

[0001] The invention relates to the field of vehicle positioning, and in particular to a vehicle positioning correction method and system. Background Art

[0002] Unmanned transportation refers to the process of using advanced autonomous driving technology to enable vehicles to autonomously complete the transportation of goods or people without any human intervention.

[0003] With the continuous maturity of technology and the expansion of application scenarios, the application of unmanned vehicles in industrial parks has become increasingly extensive and in-depth. Within industrial parks, unmanned vehicles can be used for scenarios such as material transportation between production lines, cargo distribution between warehouses and production lines, and employee commuting. They can realize automated and intelligent material handling and distribution, improve production efficiency, and reduce operating costs.

[0004] During the transportation of unmanned vehicles in the park, the positioning technology of unmanned vehicles is very important, which can effectively improve the accuracy of vehicle operation. However, in practical applications, there are the following problems: due to the influence of various factors (such as environmental interference, equipment errors, etc.), there is often a certain deviation in vehicle positioning, resulting in the vehicle not being able to accurately reach the destination. Therefore, this application proposes a vehicle positioning correction method and system. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle positioning correction method and system to solve the above technical problems.

[0006] A vehicle positioning correction method, the method comprising the following steps:

[0007] Step S1, setting n vehicle driving reference points in the park, and installing RFID electronic tags at each vehicle driving reference point;

[0008] Step S2: installing a positioning sensor and an RFID card reader on each vehicle;

[0009] Step S3: When the vehicle approaches the driving reference point, the real-time position information of the vehicle is collected by the positioning sensor, and the pre-collected position information of the vehicle is collected by the RFID reader;

[0010] Step S4, calculating the vehicle positioning deviation value according to the real-time position information of the vehicle and the pre-collected position information;

[0011] Step S5: judging whether the vehicle positioning is deviated according to the vehicle positioning deviation value; if a deviation occurs, correcting the vehicle position information.

[0012] As a further description of the technical solution of the present invention, the process of collecting the real-time location information of the vehicle in step S3 includes:

[0013] A spatial rectangular coordinate system is constructed with the vehicle starting point as the origin. When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a1, b1, c1);

[0014] When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a2, b2, c2);

[0015] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a i 、b i 、c i ), where i belongs to n;

[0016] When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a n 、b n 、c n ).

[0017] The spatial rectangular coordinate system is constructed with the vehicle starting point as the origin, and the coordinate data of n vehicle driving reference points are obtained respectively, which are (x1, y1, z1), (x2, y2, z2), ..., (x i ,y i 、z i ),…,(x n ,y n 、z n );

[0018] According to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance between the vehicle and the reference points when the vehicle enters the vicinity of the n reference points is calculated in sequence:

[0019]

[0020] As a further description of the technical solution of the present invention, the process of collecting the pre-collected position information of the vehicle in step S3 includes:

[0021] When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 1 ;

[0022] When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 2 ;

[0023] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. i ;

[0024] When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. n ;

[0025] As a further description of the technical solution of the present invention, a method for collecting the pre-collected position distance between the vehicle and the reference point through an RFID reader is to measure the distance between the RFID electronic tag and the RFID reader based on the received signal strength.

[0026] As a further description of the technical solution of the present invention, the specific process of step S5 includes:

[0027] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S1 is calculated as |d1-d 1 |;

[0028] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S2 is calculated as |d2-d 2 |;

[0029] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the positioning deviation value S is calculated. i =|d i -d i |;

[0030] When the vehicle enters the vicinity of the nth driving reference point, the positioning deviation value S is calculated. n =|d n -d n |;

[0031] Compare each positioning deviation value with the corresponding threshold value. If there is a positioning deviation item greater than the threshold value, it is judged that the vehicle positioning is abnormal, the vehicle positioning needs to be corrected, and an early warning is issued;

[0032] Otherwise, if there is no positioning deviation item greater than the threshold, the positioning deviation is further judged according to the overall deviation status.

[0033] As a further description of the technical solution of the present invention, the specific process of further judging the positioning deviation according to the overall deviation condition includes:

[0034] Construct the deviation coefficient calculation model, the expression is:

[0035]

[0036] Where σ is the coefficient of deviation, i belongs to n, S i0 The preset threshold value for the positioning deviation value of the i-th driving reference point, S th is the standard value of difference, k i is the corresponding reference point weight, the farther the distance between the reference point and the driving point, the greater the weight;

[0037] The deviation coefficient σ is compared with the set deviation coefficient threshold σ0. If the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is determined that the vehicle positioning is abnormal, and the vehicle positioning needs to be corrected, and an early warning is issued;

[0038] Otherwise, it is determined that the vehicle positioning is normal and there is no need to perform positioning correction on the vehicle.

[0039] As a further description of the technical solution of the present invention, the method for correcting the position information of the vehicle in step S5 includes: map matching correction and manual correction;

[0040] The map matching correction identifies and corrects positioning deviations by matching the real-time position information of the vehicle with a high-precision map;

[0041] The manual correction corrects the positioning deviation by manually inputting the accurate position information of the vehicle.

[0042] A vehicle positioning correction system, the system comprising: a data acquisition module, a deviation calculation module, a data analysis module and a reminder module;

[0043] The data acquisition module is used to collect real-time position information of the vehicle and pre-collected position information of the reference point;

[0044] The deviation calculation module is used to calculate the vehicle positioning deviation based on the real-time position information and the pre-collected position information;

[0045] The data analysis module is used to determine whether the vehicle positioning is abnormal based on the vehicle positioning deviation;

[0046] The reminder module is used to issue a warning in real time according to the analysis results of the data analysis module to remind the staff to correct the positioning deviation.

[0047] Beneficial effects of the present invention: 1. In order to improve the accuracy of unmanned vehicles when performing transportation tasks in industrial parks, the present invention first sets up several vehicle driving reference points inside the park, and installs RFID electronic tags at each vehicle driving reference point, and then installs positioning sensors and RFID card readers on each vehicle. The positioning sensors are used to measure the real-time position information of the vehicle, and the RFID card readers and RFID electronic tags are used to measure the pre-collected position information of the vehicle, that is, the distance between the vehicle and the reference point when the vehicle approaches the reference point, and then calculates the positioning deviation of the vehicle at each reference point based on the real-time position information of the vehicle and the pre-collected position information of the vehicle, and then determines whether to correct the vehicle positioning based on whether the positioning deviation meets the set standard value. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] Figure 1 It is a partial flow chart of the vehicle positioning correction method provided by the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See also Figure 1 As shown, the present invention is a vehicle positioning correction method, the method comprising the following steps:

[0052] Step S1, setting n vehicle driving reference points in the park, and installing RFID electronic tags at each vehicle driving reference point;

[0053] Step S2: installing a positioning sensor and an RFID card reader on each vehicle;

[0054] Step S3: When the vehicle approaches the driving reference point, the real-time position information of the vehicle is collected by the positioning sensor, and the pre-collected position information of the vehicle is collected by the RFID reader;

[0055] Step S4, calculating the vehicle positioning deviation value according to the real-time position information of the vehicle and the pre-collected position information;

[0056] Step S5: judging whether the vehicle positioning is deviated according to the vehicle positioning deviation value; if a deviation occurs, correcting the vehicle position information.

[0057] Through the above technical scheme, in order to improve the accuracy of unmanned vehicles when performing transportation tasks in industrial parks, the present invention first sets up a number of vehicle driving reference points inside the park, and installs RFID electronic tags at each vehicle driving reference point, and then installs a positioning sensor and an RFID card reader on each vehicle. The positioning sensor is used to measure the real-time position information of the vehicle, and the RFID card reader and the RFID electronic tag are used to measure the pre-collected position information of the vehicle, that is, the distance between the vehicle and the reference point when the vehicle approaches the reference point, and then calculates the positioning deviation of the vehicle at each reference point based on the real-time position information of the vehicle and the pre-collected position information of the vehicle, and then determines whether to correct the vehicle positioning based on whether the positioning deviation meets the set standard value.

[0058] As a further description of the technical solution of the present invention, the process of collecting the real-time location information of the vehicle in step S3 includes:

[0059] A spatial rectangular coordinate system is constructed with the vehicle starting point as the origin. When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a1, b1, c1);

[0060] When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a2, b2, c2);

[0061] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a i , b i 、c i ), where i belongs to n;

[0062] When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a n , b n 、c n ).

[0063] The spatial rectangular coordinate system is constructed with the vehicle starting point as the origin, and the coordinate data of n vehicle driving reference points are obtained respectively, which are (x1, y1, z1), (x2, y2, z2), ..., (x i ,y i 、z i ),…,(x n ,y n 、z n );

[0064] According to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance between the vehicle and the reference points when the vehicle enters the vicinity of the n reference points is calculated in sequence:

[0065]

[0066] Through the above calculation scheme, this embodiment provides a method for collecting real-time vehicle position information, constructing a spatial rectangular coordinate system with the vehicle starting point as the origin, and obtaining the coordinate data of n vehicle driving reference points, which are (x1, y1, z1), (x2, y2, z2), ..., (x i ,y i 、z i ),…,(x n ,y n 、z n ), and then when the vehicle approaches each vehicle driving reference point, the coordinate information of the vehicle is obtained in real time. When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates are (a1, b1, c1). When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates are (a2, b2, c2). And so on, n coordinate information is obtained. Finally, according to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance between the vehicle and the reference points when the vehicle enters the vicinity of the n reference points is calculated in sequence.

[0067] As a further description of the technical solution of the present invention, the process of collecting the pre-collected position information of the vehicle in step S3 includes:

[0068] When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 1 ;

[0069] When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 2 ;

[0070] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance di between the vehicle and the reference point is collected through the RFID reader. ；

[0071] When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. n .

[0072] Through the above technical scheme, this embodiment provides a method for collecting pre-collected position information of a vehicle, and measures the distance between the vehicle and the vehicle driving reference point according to the signal strength between the RFID reader and the RFID electronic tag. The relationship between the distance between the vehicle and the vehicle driving reference point and the signal strength satisfies: the signal strength attenuates with increasing distance. Therefore, measurement can only be achieved when the vehicle enters a certain range of the vehicle driving reference point.

[0073] As a further description of the technical solution of the present invention, a method for collecting the pre-collected position distance between the vehicle and the reference point through an RFID reader is to measure the distance between the RFID electronic tag and the RFID reader based on the received signal strength.

[0074] As a further description of the technical solution of the present invention, the specific process of step S5 includes:

[0075] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S1 is calculated as |d1-d 1 |;

[0076] When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S2 is calculated as |d2-d 2 |;

[0077] By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the positioning deviation value S is calculated. i =|d i -d i |;

[0078] When the vehicle enters the vicinity of the nth driving reference point, the positioning deviation value S is calculated. n =|d n -d n |;

[0079] Compare each positioning deviation value with the corresponding threshold value. If there is a positioning deviation item greater than the threshold value, it is judged that the vehicle positioning is abnormal, the vehicle positioning needs to be corrected, and an early warning is issued;

[0080] Otherwise, if there is no positioning deviation item greater than the threshold, the positioning deviation is further judged according to the overall deviation status.

[0081] As a further description of the technical solution of the present invention, the specific process of further judging the positioning deviation according to the overall deviation condition includes:

[0082] Construct the deviation coefficient calculation model, the expression is:

[0083]

[0084] Where σ is the coefficient of deviation, i belongs to n, Si0 The preset threshold value for the positioning deviation value of the i-th driving reference point, S th is the standard value of difference, k i is the corresponding reference point weight, the farther the distance between the reference point and the driving point, the greater the weight;

[0085] The deviation coefficient σ is compared with the set deviation coefficient threshold σ0. If the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is determined that the vehicle positioning is abnormal, and the vehicle positioning needs to be corrected, and an early warning is issued;

[0086] Otherwise, it is determined that the vehicle positioning is normal and there is no need to perform positioning correction on the vehicle.

[0087] Through the above technical solution, this embodiment provides a method for determining whether the vehicle positioning is abnormal. First, the positioning deviation when the vehicle approaches each reference point is compared with the set standard threshold according to the positioning deviation when the vehicle approaches each reference point. If there is a positioning deviation item greater than the threshold, the vehicle positioning is judged to be abnormal, and the vehicle positioning needs to be corrected, and an early warning is issued; if there is no positioning deviation item greater than the threshold, a deviation coefficient calculation model is constructed, and the formula is used to calculate the deviation coefficient. Calculate the coefficient of variation, where S i0 The preset threshold value for the positioning deviation value of the i-th driving reference point, S th is the standard value of difference, k i is the corresponding reference point weight. The farther the distance between the reference point and the driving point, the greater the weight. Then, by comparing the deviation coefficient σ with the set deviation coefficient threshold σ0, if the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, the vehicle positioning is judged to be abnormal, and the vehicle needs to be corrected, and an early warning is issued; otherwise, the vehicle positioning is judged to be normal and no positioning correction is needed.

[0088] As a further description of the technical solution of the present invention, the method for correcting the position information of the vehicle in step S5 includes: map matching correction and manual correction;

[0089] The map matching correction identifies and corrects positioning deviations by matching the real-time position information of the vehicle with a high-precision map;

[0090] The manual correction corrects the positioning deviation by manually inputting the accurate position information of the vehicle.

[0091] Through the above technical solution, the vehicle's position information is corrected. When there is a positioning deviation item greater than the threshold, the vehicle positioning is judged to be abnormal, that is, the vehicle has a positioning deviation near the reference point. The vehicle's position information is corrected through manual correction. When the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, the vehicle positioning is judged to be abnormal, that is, the overall positioning has deviations. The vehicle's position information is corrected through map matching correction.

[0092] A vehicle positioning correction system, the system comprising: a data acquisition module, a deviation calculation module, a data analysis module and a reminder module;

[0093] The data acquisition module is used to collect real-time position information of the vehicle and pre-collected position information of the reference point;

[0094] The deviation calculation module is used to calculate the vehicle positioning deviation based on the real-time position information and the pre-collected position information;

[0095] The data analysis module is used to determine whether the vehicle positioning is abnormal based on the vehicle positioning deviation;

[0096] The reminder module is used to issue a warning in real time according to the analysis results of the data analysis module to remind the staff to correct the positioning deviation.

[0097] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A vehicle positioning correction method, characterized in that: The method comprises the following steps: Step S1, setting n vehicle driving reference points in the park, and installing RFID electronic tags at each vehicle driving reference point; Step S2: installing a positioning sensor and an RFID card reader on each vehicle; Step S3: When the vehicle approaches the driving reference point, the real-time position information of the vehicle is collected by the positioning sensor, and the pre-collected position information of the vehicle is collected by the RFID reader; Step S4, calculating the vehicle positioning deviation value according to the real-time position information of the vehicle and the pre-collected position information; Step S5: judging whether the vehicle positioning is deviated according to the vehicle positioning deviation value; if a deviation occurs, correcting the vehicle position information.

2. The vehicle positioning correction method according to claim 1, characterized in that: The process of collecting the real-time location information of the vehicle in step S3 includes: A spatial rectangular coordinate system is constructed with the vehicle starting point as the origin. When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a1, b1, c1); When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a2, b2, c2); By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a i , b i 、c i ), where i belongs to n; When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle obtained by the positioning sensor are (a n , b n 、c n ). The spatial rectangular coordinate system is constructed with the vehicle starting point as the origin, and the coordinate data of n vehicle driving reference points are obtained respectively, which are (x1, y1, z1), (x2, y2, z2), ..., (x i ,y i 、z i ),…,(x n ,y n 、z n ); According to the real-time coordinate data of the vehicle and the coordinate data of the n vehicle driving reference points, the real-time position distance between the vehicle and the reference points when the vehicle enters the vicinity of the n reference points is calculated in sequence:

3. The vehicle positioning correction method according to claim 1, characterized in that: The process of collecting the pre-collected position information of the vehicle in step S3 includes: When the vehicle enters the vicinity of the first driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 1 ; When the vehicle enters the vicinity of the second driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. 2 ; By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. i ; When the vehicle enters the vicinity of the nth driving reference point, the real-time coordinates of the vehicle are obtained through the positioning sensor, and the pre-collected position distance d between the vehicle and the reference point is collected through the RFID reader. n .

4. The vehicle positioning correction method according to claim 3, characterized in that: The method of collecting the pre-collected position distance between the vehicle and the reference point through the RFID reader is to measure the distance between the RFID electronic tag and the RFID reader according to the received signal strength.

5. The vehicle positioning correction method according to claim 1, characterized in that: The specific process of step S5 includes: When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S1 is calculated as |d1-d 1 |; When the vehicle enters the vicinity of the first driving reference point, the positioning deviation value S2 is calculated as |d2-d 2 |; By analogy, when the vehicle enters the vicinity of the i-th driving reference point, the positioning deviation value S is calculated. i =|d i -d i |; When the vehicle enters the vicinity of the nth driving reference point, the positioning deviation value S is calculated. n =|d n -d n |; Compare each positioning deviation value with the corresponding threshold value. If there is a positioning deviation item greater than the threshold value, it is judged that the vehicle positioning is abnormal, the vehicle positioning needs to be corrected, and an early warning is issued; Otherwise, if there is no positioning deviation item greater than the threshold, the positioning deviation is further judged according to the overall deviation status.

6. The vehicle positioning correction method according to claim 5, characterized in that: The specific process of further judging the positioning deviation according to the overall deviation condition includes: Construct the deviation coefficient calculation model, the expression is: Where σ is the coefficient of deviation, i belongs to n, S i0 The preset threshold value for the positioning deviation value of the i-th driving reference point, S th is the standard value of difference, k i is the corresponding reference point weight, the farther the distance between the reference point and the driving point, the greater the weight; The deviation coefficient σ is compared with the set deviation coefficient threshold σ0. If the deviation coefficient σ is greater than or equal to the set deviation coefficient threshold σ0, it is determined that the vehicle positioning is abnormal, and the vehicle positioning needs to be corrected, and an early warning is issued; Otherwise, it is determined that the vehicle positioning is normal and there is no need to perform positioning correction on the vehicle.

7. The vehicle positioning correction method according to claim 6, characterized in that: The method for correcting the vehicle's position information in step S5 includes: map matching correction and manual correction; The map matching correction identifies and corrects positioning deviations by matching the real-time position information of the vehicle with a high-precision map; The manual correction corrects the positioning deviation by manually inputting the accurate position information of the vehicle.

8. A vehicle positioning correction system using the vehicle positioning correction method according to any one of claims 1 to 7, characterized in that: The system includes: a data acquisition module, a deviation calculation module, a data analysis module and a reminder module; The data acquisition module is used to collect real-time position information of the vehicle and pre-collected position information of the reference point; The deviation calculation module is used to calculate the vehicle positioning deviation based on the real-time position information and the pre-collected position information; The data analysis module is used to determine whether the vehicle positioning is abnormal based on the vehicle positioning deviation; The reminder module is used to issue a warning in real time according to the analysis results of the data analysis module to remind the staff to correct the positioning deviation.

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