CN102980589A - Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed - Google Patents
Method and device for automatically computing vehicle pulse factor via GPS (global positioning system) speed Download PDFInfo
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Abstract
The invention relates to a GPS (global positioning system) vehicle travelling data recorder, in particular to a method and a device for automatically computing a vehicle pulse factor via GPS (global positioning system) speed. The method comprises the following steps: 1. searching for a time period T in conformity with the judging criteria; and 2. storing the speeds and pulse counts per second of the time period T in the time period T searched in the step 1 and computing the vehicle pulse factor R according to the following formula: R=(1000*P)/L, wherein L is the accumulated travelling distance in the time period T, namely the accumulated sum of all the travelling distances per second in the time period T, and L is equal to L1+L2+...Lt; and P is the accumulated pulse count in the time period T, namely the accumulated sum of all the pulse counts per second in the time period T, and P is equal to P1+P2+...Pt. The method has the advantages that the method is used for automatically computing and matching the vehicle pulse factor and correcting errors of the vehicle pulse factor of the GPS vehicle travelling data recorder and the accuracy of the computed vehicle pulse factor is high, thus improving the accuracy of computing the vehicle travelling speed and travelling distance via the vehicle pulse factor.
Description
Technical field
The present invention relates to the GPS automobile travel recorder, be specifically related to that the vehicle impulse ratio calculates automatically in a kind of mobile unit of GPS automobile travel recorder, method and the device of coupling and error correction.
Background technology
The develop rapidly in Chinese automobile and traffic transport industry market and to the needs of integrated information service, safety precautions management is for the integrated information service market of GPS automobile travel recorder provides huge development space and opportunity.Wherein, the installation of GPS automobile travel recorder is as important step, and the vehicle impulse ratio in its installation process calculates becomes the key issue that the GPS automobile travel recorder need to solve.Wherein, vehicle impulse ratio definition: in " GB/T19056-2012 automobile travel recorder " national standard, be defined as the pulse signal number that vehicle speed sensor produces in apart from process at Vehicle Driving Cycle 1km.
The vehicle impulse ratio value of existing GPS automobile travel recorder generally is the mode by the manually-operated input: the one, according to the parameter that vehicle dispatches from the factory and indicates, manually input vehicle impulse ratio value by menu interface; The 2nd, by artificial sport car measuring and calculating, manually calculate rear input vehicle impulse ratio value according to the umber of pulse of vehicle mileage table mileage and sport car process accumulative total.There are a lot of shortcomings in above method: the one, because the vehicle impulse ratio value of different automobile types or brand all is different, when GPS automobile travel recorder mobile unit is installed, input vehicle impulse ratio value after needing manually to calculate one by one, installation effectiveness is low, greatly increases artificial erected cost; The 2nd, owing to need manually-operated input vehicle impulse ratio value, technical requirement increases to the equipment installation personnel, thereby increases human cost; The 3rd, need to calculate vehicle impulse ratio value after the sport car measuring and calculating, manually with the car sport car, can't install concentratedly, when losing time, also affect vehicle and normally run, cause car owner's psychology of strongly conflicting; The 4th, in the practical application, when the GPS automobile travel recorder is subject to extraneous powerful electromagnetic interference (EMI) and Radio frequency interference (RFI), there is unavoidably the parameter loss situation, need manually again to arrive the on-the-spot input vehicle impulse ratio that calculates this moment, increase cost of equipment maintenance; The 5th, the wheel of vehicle maintain and replace, the wheel diameter parameter might change, and needs again measuring and calculating input vehicle impulse ratio.
For this reason, some vehicle impulse ratio automatic measurement ﹠ calculation methods begin to occur, for example one piece of applying date is 2008.03.18, application number is the patent of invention of 201210079620.X, disclose a kind of navigational system, this navigation ECU comprises: process the range observation section that consists of by software, the distance coefficient calculating part, the vehicle heading calculating part, the current location calculating part, precision calculation section, video camera uses mode decision section, afterbody camera power supply control part, rear monitoring video display part, image recognition section, video camera uses the pattern switching part, the offset voltage correction portion, road particular location detection unit, between the point of crossing apart from calculating part, road breaks away from detection unit, gateway, parking lot detection unit, travel detection unit and map picture generating unit etc.The vehicle speed pulse information that range observation section obtains according to the vehicle speed sensor that comprises from various sensors, the vehicle speed pulse coefficient that utilizes the distance coefficient calculating part to calculate, the operating range of measuring vehicle.The operating range that this range observation section is measured is sent to distance coefficient calculating part and current location calculating part as range information.For vehicle speed pulse information being converted to actual operating range, the current location of self that the distance coefficient calculating part calculates based on the current location calculating part is calculated the vehicle speed pulse coefficient of the distance that expression advances in one week of rotation of wheel.The vehicle speed pulse coefficient that this distance coefficient calculating part calculates is sent between range observation section and point of crossing apart from calculating part.
But, above-mentioned application number be on the patent of invention of 201210079620.X in the whole text main technical solution problem be to improve bearing accuracy by vehicle-mounted camera and each sensor, and non-automatic calculating and correction vehicle impulse ratio, so the foregoing invention patent is not mentioned the circular of concrete vehicle speed pulse coefficient; In addition, the correction of its vehicle speed pulse coefficient be by based between the point of crossing distance compare with cartographic information, judge whether there are differences, clear and definite judgement comparative approach is not proposed, its whether can implement and whether obtain good correction effect all remains the textual criticism.
Summary of the invention
Technical matters to be solved by this invention is, a kind of method and device that automatically calculates the vehicle impulse ratio by GPS speed is provided, automatically calculate the vehicle impulse ratio by the speed data of the built-in gps satellite locating module output of GPS automobile travel recorder and the umber of pulse of registering instrument statistics, can automatically calculate, mate and proofread and correct the vehicle impulse ratio, thereby improve the precision of calculating Vehicle Speed and distance travelled by the vehicle impulse ratio, avoid because vehicle impulse ratio value deviation causes the mistake of Vehicle Speed and distance travelled statistics.
In order to solve the problems of the technologies described above, thinking of the present invention is: the integrated modules such as gps satellite locating module, pulse detection sensor, vehicle launch signal detection sensor in the GPS automobile travel recorder.Wherein, GPS automobile travel recorder inside is integrated with the gps satellite locating module, therefore can the Real-time Obtaining longitude and latitude, the position information datas such as speed, direction, because the gps satellite locating module is in different satellite-signals and Vehicle Speed situation, output speed has certain error, therefore, for improving the computational accuracy of vehicle impulse ratio, need to choose the high parameter of precision, can at first select the time period that meets certain condition, then obtain per second travel speed and pulse per second (PPS) number in this time period, and then calculate the vehicle impulse ratio.
Concrete, in the Vehicle Driving Cycle process, the qualified time period of the continuous matched and searched of GPS automobile travel recorder, buffer memory is according to the speed data (second speed) of gps satellite locating module per second output, utilize the pulse detection sensor constantly to detect vehicle output p.s. umber of pulse, and buffer memory this of speed and pulse per second (PPS) number, speed second, pulse per second (PPS) number and the running time according to buffer memory calculates the vehicle impulse ratio according to formula at last. second time period
Technical scheme of the present invention is specific as follows, a kind ofly automatically calculates the method for vehicle impulse ratio by GPS speed, may further comprise the steps:
Step 1: in the Vehicle Driving Cycle process, the GPS automobile travel recorder is searched the time period T that meets following decision condition: in this time period T, the error of calculating distance travelled according to the speed of gps satellite locating module output is not more than 1%;
Step 2: in the time period T that step 1 finds, obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R according to following formula:
R=(1000*P)/L；
Wherein, the unit of this vehicle impulse ratio R is/kilometer, and L be accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*t+V2*t+ ... + Vt*t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
Wherein, reason owing to accuracy of detection, the speed of the actual travel speed of vehicle and the output of gps satellite locating module (being called for short GPS speed) has certain error, simultaneously, vehicle is in friction speed value situation, and the error of GPS speed and actual travel speed is different, be in 1 to 20 kilometer/hour such as speed, error is 2%, and works as speed at 20 to 50 kilometers/hour, and error may be 1%.Therefore as a further scheme, also comprise the process that speed is revised in the step 2: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed, (this value of Ex be can have positive and negative); The computing formula of accumulative total distance travelled L is as follows in so should time period T:
L=V1*（1+Ex）*t?+V2*（1+Ex）*t?+…+Vt*（1+Ex）*t，t=1s。
Step 3: the vehicle impulse ratio R that step 2 is obtained tests and proofreaies and correct, and specifically may further comprise the steps:
Step 31: in the vehicle operating process, obtain and the speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg, then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number;
Step 32: the average velocity that calculates the GPS speed of each sample time section Tc, to be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L be with per second GPS speed according to computing formula L=Vg1*t+Vg2*t+... + Vgt*t, t=1s, the distance travelled that calculates; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc; With step 2, in order to obtain more accurate result, distance travelled L in this step calculates with revised per second GPS speed, GPS speed makeover process is as follows: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s;
Step 33: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1, the value of Nc is the bigger the better certainly, and namely frequency in sampling is more, and its comparative result is more accurate; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Step 34: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, 0＜A＜1 (for example A can be made as 3%), 1≤Nx≤Nc(for example Nx can be made as Nc/2), then this vehicle impulse ratio R is undesirable, represent that current vehicle impulse ratio R makes mistakes, then remove vehicle impulse ratio R in the parameter region, return step 1 and again mate calculating vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.
As a further technical scheme, it is as follows that the error of calculating distance travelled according to the speed of gps satellite locating module output in the step 1 is not more than 1% concrete decision condition: this vehicle is in starting state, this vehicle is in positioning states, the station-keeping mode of gps satellite locating module is the 3D location, gps signal is in shape, and vehicle is in transport condition.Wherein, judge whether standard in shape comprises gps signal: be not less than 4 if satisfy simultaneously usable satellite quantity, and each satellite signal to noise ratio (S/N ratio) is greater than 25, position dilution of precision, Horizontal Dilution of Precision and vertical dilution of precision are all less than 10, judge that then gps signal is in shape, otherwise the expression gps signal out of order.
In addition, in the above-mentioned steps, the selection of the length of time period T is decided by accumulative total distance travelled L or accumulative total running time: as accumulative total distance travelled L=N, N is a predefined integer, unit is kilometer, for example make N=2, then when accumulative total distance travelled L equaled two kilometers, the needed time was time period T; Perhaps as accumulative total running time=M, M is a predefined integer, and unit is minute, for example makes M=5, then is the time period in 5 minutes.
A kind ofly automatically calculate the device of vehicle impulse ratio by GPS speed, comprise with lower unit:
Search the time period unit: in the Vehicle Driving Cycle process, the GPS automobile travel recorder is searched the time period T that meets following decision condition: in this time period T, the error of calculating distance travelled according to the speed of gps satellite locating module output is not more than 1%;
Vehicle impulse ratio computing unit: among the time period T that in searching the time period unit, finds, obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R according to following formula:
R=(1000*P)/L；
Wherein, the unit of this vehicle impulse ratio R is/kilometer, and L be accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*t+V2*t+ ... + Vt*t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
This vehicle impulse ratio computing unit also comprises the amending unit that speed is revised: this amending unit with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; The computing formula of accumulative total distance travelled L is as follows in so should time period T:
L=V1*（1+Ex）*t?+V2*（1+Ex）*t?+…+Vt*（1+Ex）*t，t=1s。
Also comprise the check correcting unit, the vehicle impulse ratio R that vehicle impulse ratio computing unit is calculated tests and proofreaies and correct.Described check correcting unit is carried out following steps:
Step 31: in the vehicle operating process, obtain and the speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg, then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number;
Step 32: the average velocity that calculates the GPS speed of each sample time section Tc, to be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L be with per second GPS speed according to computing formula L=Vg1*t+Vg2*t+... + Vgt*t, t=1s, the distance travelled that calculates; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc;
Step 33: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Step 34: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, and 0＜A＜1,1≤Nx≤Nc, then this vehicle impulse ratio R is undesirable, represents that current vehicle impulse ratio R makes mistakes, and then removes vehicle impulse ratio R in the parameter region, returns step 1 and again mates and calculate the vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.
Wherein, distance travelled L in the step 32 calculates with revised per second GPS speed, GPS speed makeover process is as follows: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s.
Of the present inventionly a kind ofly automatically calculate method and the device of vehicle impulse ratio according to GPS speed, describe the automatic Computing Principle of vehicle impulse ratio and process in detail; And disposal route that vehicle impulse ratio R is tested and proofreaies and correct has specifically been proposed, it is strong to have reliability, judges accurately; Have the following advantages: the one, GPS automobile travel recorder can automatically calculate and upgrade the vehicle impulse ratio, need not artificial input and sport car measuring and calculating, and different automobile types can be suitable for, and improves installation effectiveness, reduces the artificial erected cost of GPS automobile travel recorder; The 2nd, need not artificial the participation and calculate, reduce installer's technical requirement; The 3rd, need not manually to calculate with the car sport car, vehicle can be installed concentratedly, improves installation effectiveness, greatly reduces the normal Influence to operation of vehicle, forms good reputation among customers; The 4th, in the practical application, lose or after the wheel diameter parameter changes, can automatically recomputate and proofread and correct the vehicle impulse ratio when the vehicle impulse ratio in the GPS automobile travel recorder, need not manually to arrive field maintemance, reduce the product maintenance cost, improve product competitiveness; The 5th, can automatically calculate, mate and proofread and correct the vehicle impulse ratio, and the required speed of using in step 2 and step 3 computing formula revised, the vehicle impulse ratio precision that calculates is high, thereby improves the precision of calculating Vehicle Speed and distance travelled by the vehicle impulse ratio.The present invention realizes simply, and is practical, reliable and stable.
Description of drawings
Fig. 1 is the hardware system block diagram of embodiments of the invention;
Fig. 2 is vehicle impulse ratio calculation process of the present invention;
Fig. 3 is the process flow diagram of searching the time period that meets decision condition of the present invention;
Fig. 4 is that data are calculated synoptic diagram in the Vehicle Driving Cycle process of the present invention;
Fig. 5 is the data from the sample survey synoptic diagram of vehicle impulse ratio of the present invention;
Fig. 6 is the process flow diagram of vehicle impulse ratio of the present invention verification.
Embodiment
Now the present invention is further described with embodiment by reference to the accompanying drawings.
As shown in Figure 1, an application example of the present invention is one and forms the GPS integrated information service system by GPS automobile travel recorder, Vehicle Sensor System and GPS center service system, the GPS automobile travel recorder is installed on the vehicle, its with GPS center service system between carry out business datum by GPRS and communicate by letter, and establish a communications link with Vehicle Sensor System.Wherein, the GPS automobile travel recorder can the collection vehicle sensor signal.
Wherein, the GPS automobile travel recorder is a main process equipment that is installed on the vehicle, has comprised microprocessor, memory RAM, Flash, Vehicle Sensor System (vehicle pulse collection module), signals of vehicles acquisition module, mobile communication module and gps satellite locating module etc.; Mainly play the functions such as mobile network's wireless data communications, gps satellite location and vehicle sensors signals collecting.
GPS center service system is one and be used for receives, resolves and process the data that the GPS automobile travel recorder is uploaded based on the application software of server, analyzes data, and generating report forms simultaneously can remote monitoring, remote control, GP configuring S automobile travel recorder.
Vehicle Sensor System is mounted in the various sensing systems on the vehicle, the interfaces such as pulse detection sensor, vehicle launch signal detection sensor externally are provided, other control panels can dock with Vehicle Sensor System by pickup wire, realize the signals of vehicles data acquisition.
The gps satellite locating module is in different satellite-signals and Vehicle Speed situation, output speed has certain error, therefore, as shown in Figure 2, in the method for the present invention, at first need the selected qualified time period, the position information datas such as the longitude and latitude of gps satellite locating module output this moment, speed, direction are more accurate, and it is just more accurate therefore to calculate vehicle impulse ratio value according to accumulative total per second GPS speed and pulse per second (PPS) number.By actual sport car testing authentication, GPS velocity error under the friction speed value all is different, therefore velocity amplitude can be classified, draw the error coefficient under each grade, the error of the GPS speed after the process error coefficient is proofreaied and correct is in 1%, can satisfy application request, namely in the error of GPS speed 1% with this interior section in the period, the ratio of precision of calculating distance travelled according to GPS speed is higher.
Concrete, of the present invention a kind of automatically to calculate the method for vehicle impulse ratio by GPS speed as follows:
Step 1: in the Vehicle Driving Cycle process, the time period that GPS automobile travel recorder coupling meets following decision condition (is recorded as T, unit is second): in this time period T, the position information datas such as the longitude and latitude of gps satellite locating module output, speed, direction are more accurate, and it is just more accurate therefore to calculate the vehicle impulse ratio according to GPS speed and pulse per second (PPS) number.By actual sport car testing authentication, the error of calculating distance travelled according to GPS speed can satisfy application request in 1%; Concrete, as shown in Figure 3, its decision condition is as follows:
Whether step 11: utilize the vehicle launch signal transducer to detect vehicle and start, constantly detect vehicle enabling signal line when system normally moves, start if detect vehicles failed, sufficient condition with thumb down is then returned; If vehicle starts, then jump to step 12;
Step 12:GPS automobile travel recorder device interior is integrated with the gps satellite locating module, therefore can the Real-time Obtaining positional information, can judge by the GPS location information data whether the gps satellite locating module locates, if no-fix sufficient condition with thumb down is then returned; If located then jumped to step 13;
Step 13:GPS automobile travel recorder device interior is integrated with the gps satellite locating module, therefore can the Real-time Obtaining positional information, can judge by the GPS location information data whether gps satellite locating module station-keeping mode is the 3D location, if be not in the 3D location, sufficient condition with thumb down is then returned; If step 14 is then jumped in the 3D location;
Step 14:GPS automobile travel recorder device interior is integrated with the gps satellite locating module, therefore can the Real-time Obtaining positional information, can judge the gps signal situation by the GPS location information data, must satisfy condition: the usable satellite number want 4 and more than, and each satellite signal to noise ratio (S/N ratio) is greater than 25, and position dilution of precision (PDOP), Horizontal Dilution of Precision (HDOP) and vertical dilution of precision (VDOP) are less than 10; Satisfy above condition and represent that gps signal is good, the GPS velocity information of obtaining is more accurate, jumps to step 15; Otherwise the expression gps signal out of order, do not satisfy condition, and returns;
Step 15:GPS automobile travel recorder device interior is integrated with the gps satellite locating module, can obtain current Vehicle Speed by the GPS location information data, when Vehicle Speed greater than certain speed (such as 5 kilometers/hour), the expression vehicle be in transport condition, satisfy condition, return; Otherwise sufficient condition with thumb down is returned.
Step 2: as shown in Figure 4, be second in the time period T(unit that meets above-mentioned decision condition) in, the microprocessor of GPS automobile travel recorder (MCU) obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; GPS velocity error coefficient under the different brackets is designated as Ex, and speed is divided into n grade, so each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed, unit is %; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R(unit according to following formula: individual/kilometer), and store vehicle impulse ratio R value into the Parameter storage district:
R=(1000*P)/L；
Wherein, L is accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*(1+Ex) the * t of * t+V2*(1+Ex)+... + Vt*(1+Ex) * t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
In addition, in the formula 1000 established for the unit (rice) that will add up distance travelled L is scaled km, therefore those skilled in the art also can adopt following way: directly with second operating range L1, L2 ..., Lt etc. unit conversion be km, then this moment, formula became: R=P/L.
Also have, the length of time period T can reach 2 kilometers by vehicle accumulative total distance travelled to be determined, when vehicle meets in the decision condition driving process, vehicle accumulative total distance travelled reaches 2 kilometers time spans; Time period length also can be determined by vehicle accumulative total running time, and when vehicle meets in the decision condition driving process, vehicle accumulative total running time length reaches 5 minutes; It is just passable that the two meets a condition.
Step 3: the vehicle impulse ratio R that step 2 is obtained tests and proofreaies and correct: in the vehicle operating process, according to vehicle impulse ratio R and pulse per second (PPS) number, just can calculate Vehicle-Miles of Travel and travel speed, to be designated as impulse speed according to the Vehicle Speed that vehicle impulse ratio R and pulse per second (PPS) number calculate, with impulse speed and GPS speed sampling fraction, calculate its error value E, if error value E excessive (for example greater than default threshold value A), then coupling is calculated vehicle impulse ratio R again, and error threshold A may be defined as 3%:
As shown in Figure 5, sampling fraction for fear of second time boundary error and pulse detection boundary error, has defined sample point, sample time section Tc and sampling hop count Nc; Sample point is the GPS speed that gathers p.s. and the impulse speed of calculating according to impulse ratio p.s., the sample time section is defined as the time width that is made of sample section a plurality of sequential sampling points, the sampling hop count is defined as the hop count that needs sampling, but sample time width value 10 seconds, the desirable value 5 of sampling hop count.As shown in Figure 6, actual conditions judges that treatment scheme is as follows:
Step 31: judge whether Parameter storage district vehicle impulse ratio R value exists, and has existence then to jump to step 33, does not exist and then jumps to step 32;
Step 32: of the present inventionly automatically calculate the method for vehicle impulse ratio R by GPS speed according to step 1 is described, calculate vehicle impulse ratio R, jump to step 33;
Step 33: according to the condition in the step 14, judge whether current vehicle running state and gps satellite state etc. satisfy condition, satisfied then jump to step 34, otherwise return; The Rule of judgment of condition in this step when calculating the vehicle impulse ratio is the same, the position information datas such as the longitude and latitude of gps satellite locating module output, speed, direction are more accurate under this condition, and it is just more accurate therefore to calculate the impulse ratio value according to accumulative total per second GPS speed and umber of pulse;
Step 34: in the vehicle operating process, obtain the also speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg; Then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number; Then sample at the sampling zero-time random start of a sample section, the rear continuous acquisition required sample point number of a sample time section (being designated hereinafter simply as number of sampling points) and buffer memory begin to sample, whether the number of sampling points of then judging buffer memory has reached a required sample point number of sample time section, do not reach and then jump to step 33, continue the sampling sample point; Reached and then generated a sample time segment data, i.e. the impulse speed Vp of this section of buffer memory per second and GPS speed Vg, the sampling hop count adds 1, and whether the judgement sampling hop count is enough, and enough steps 33 that then jumps to continue the sampling sample point; Enough then jump to 35;
Step 35: the average velocity that calculates the GPS speed of each sample time section Tc, to be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L is the distance travelled that calculates according to revised per second GPS speed, per second GPS speed makeover process is with step 2: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed.Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc;
Step 36: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1, the value of Nc is the bigger the better certainly, and namely frequency in sampling is more, and its comparative result is more accurate; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Step 37: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, and 0＜A＜1,1≤Nx≤Nc, then this vehicle impulse ratio R is undesirable, represents that current vehicle impulse ratio R makes mistakes, and then removes vehicle impulse ratio R in the parameter region, returns step 1 and again mates and calculate the vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.Wherein, choosing with choosing according to artificial of Nx of A set, and for example establishing A is 3%, and establishing Nx is Nc/2.
A kind ofly automatically calculate the device of vehicle impulse ratio by GPS speed, comprise and search time period unit, vehicle impulse ratio computing unit and check correcting unit.
Wherein, search the time period unit: in the Vehicle Driving Cycle process, the GPS automobile travel recorder is searched the time period T that meets following decision condition: in this time period T, the error of calculating distance travelled according to the speed of gps satellite locating module output is not more than 1%;
Vehicle impulse ratio computing unit: among the time period T that in searching the time period unit, finds, obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R according to following formula:
R=(1000*P)/L；
Wherein, the unit of this vehicle impulse ratio R is/kilometer, and L be accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*t+V2*t+ ... + Vt*t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
This vehicle impulse ratio computing unit also comprises the amending unit that speed is revised: this amending unit with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; The computing formula of accumulative total distance travelled L is as follows in so should time period T:
L=V1*（1+Ex）*t?+V2*（1+Ex）*t?+…+Vt*（1+Ex）*t，t=1s。
The check correcting unit, the vehicle impulse ratio R that vehicle impulse ratio computing unit is calculated tests and proofreaies and correct.Described check correcting unit is carried out following steps:
Step a: in the vehicle operating process, obtain and the speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg, then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number;
Step b: the average velocity that calculates the GPS speed of each sample time section Tc, to be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L be with per second GPS speed according to computing formula L=Vg1*t+Vg2*t+... + Vgt*t, t=1s, the distance travelled that calculates; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc;
Step c: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Steps d: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, and 0＜A＜1,1≤Nx≤Nc, then this vehicle impulse ratio R is undesirable, represents that current vehicle impulse ratio R makes mistakes, and then removes vehicle impulse ratio R in the parameter region, returns step 1 and again mates and calculate the vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.
Wherein, distance travelled L among the step b calculates with revised per second GPS speed, GPS speed makeover process is as follows: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s.
In actual applications, the GPS automobile travel recorder is installed on the various various types of vehicles, under the normal operation with continuous collection position information data, travel speed and distance travelled according to vehicle impulse ratio and pulse per second (PPS) number calculating vehicle, the data packing that collects is uploaded to GPS center service system by the GPRS communication network, for server GPS intellectual analysis generating report forms, reaching the vehicle remote monitoring administrative purposes, thereby embody the importance of vehicle impulse ratio.When the vehicle impulse ratio does not arrange or error when excessive, adopt a kind of method and device that automatically calculates the vehicle impulse ratio by GPS speed of the present invention, automatically calculate and renewal vehicle impulse ratio, using for GPS automobile travel recorder function provides basic guarantee.
Although specifically show and introduced the present invention in conjunction with preferred embodiment; but the those skilled in the art should be understood that; within not breaking away from the spirit and scope of the present invention that appended claims limits; can make a variety of changes the present invention in the form and details, be protection scope of the present invention.
Claims (10)
1. one kind is calculated the method for vehicle impulse ratio automatically by GPS speed, it is characterized in that: may further comprise the steps:
Step 1: in the Vehicle Driving Cycle process, the GPS automobile travel recorder is searched the time period T that meets following decision condition: in this time period T, the error of calculating distance travelled according to the speed of gps satellite locating module output is not more than 1%;
Step 2: in the time period T that step 1 finds, obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R according to following formula:
R=(1000*P)/L；
Wherein, the unit of this vehicle impulse ratio R is/kilometer, and L be accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*t+V2*t+ ... + Vt*t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
2. the method for automatically calculating the vehicle impulse ratio by GPS speed according to claim 1, it is characterized in that: also comprise the process that speed is revised in the step 2: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; The computing formula of accumulative total distance travelled L is as follows in so should time period T:
L=V1*（1+Ex）*t?+V2*（1+Ex）*t?+…+Vt*（1+Ex）*t，t=1s。
3. according to claim 1ly automatically calculate the method for vehicle impulse ratio by GPS speed, it is characterized in that: also comprise step 3: the vehicle impulse ratio R that step 2 is obtained tests and proofreaies and correct.
4. according to claim 3ly automatically calculate the method for vehicle impulse ratio by GPS speed, it is characterized in that: described step 3 specifically comprises:
Step 31: in the vehicle operating process, obtain and the speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg, then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number;
Step 32: the average velocity that calculates the GPS speed of each sample time section Tc, to be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L be with per second GPS speed according to computing formula L=Vg1*t+Vg2*t+... + Vgt*t, t=1s, the distance travelled that calculates; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc;
Step 33: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Step 34: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, and 0＜A＜1,1≤Nx≤Nc, then this vehicle impulse ratio R is undesirable, represents that current vehicle impulse ratio R makes mistakes, and then removes vehicle impulse ratio R in the parameter region, returns step 1 and again mates and calculate the vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.
5. the method for automatically calculating the vehicle impulse ratio by GPS speed according to claim 4, it is characterized in that: the distance travelled L in the step 32 calculates with revised per second GPS speed, GPS speed makeover process is as follows: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s.
6. the method for automatically calculating the vehicle impulse ratio by GPS speed according to claim 1, it is characterized in that: it is as follows that the error of calculating distance travelled according to the speed of gps satellite locating module output in the step 1 is not more than 1% concrete decision condition: this vehicle is in starting state, this vehicle is in positioning states, the station-keeping mode of gps satellite locating module is the 3D location, gps signal is in shape, and vehicle is in transport condition.
7. one kind is calculated the device of vehicle impulse ratio automatically by GPS speed, it is characterized in that: comprise with lower unit:
Search the time period unit: in the Vehicle Driving Cycle process, the GPS automobile travel recorder is searched the time period T that meets following decision condition: in this time period T, the error of calculating distance travelled according to the speed of gps satellite locating module output is not more than 1%;
Vehicle impulse ratio computing unit: among the time period T that in searching the time period unit, finds, obtain and buffer memory should the time period in the speed data of gps satellite locating module per second output, be designated as second speed, be recorded as V1, V2 ..., Vt, unit is m/s; Utilize simultaneously the pulse detection sensor constantly to detect per second vehicle output umber of pulse in this time period T, be designated as the pulse per second (PPS) number, and the pulse per second (PPS) number of this time period of buffer memory T, be recorded as P1, P2 ..., Pt, unit is; Calculate vehicle impulse ratio R:R=(1000*P)/L according to following formula; Wherein, the unit of this vehicle impulse ratio R is/kilometer, and L be accumulative total distance travelled in this time period T, namely should time period T in all seconds operating range cumulative and, L=V1*t+V2*t+ ... + Vt*t, t=1s; P is accumulative total umber of pulse in this time period T, namely should time period T in all pulse per second (PPS) numbers cumulative and, P=P1+P2+ ... Pt.
8. the device that automatically calculates the vehicle impulse ratio by GPS speed according to claim 7, it is characterized in that: vehicle impulse ratio computing unit also comprises the amending unit that speed is revised: this amending unit with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; The computing formula of accumulative total distance travelled L is as follows in so should time period T:
L=V1*（1+Ex）*t?+V2*（1+Ex）*t?+…+Vt*（1+Ex）*t，t=1s。
9. according to claim 7ly automatically calculate the device of vehicle impulse ratio by GPS speed, it is characterized in that: also comprise the check correcting unit, the vehicle impulse ratio R that vehicle impulse ratio computing unit is calculated tests and proofreaies and correct.
10. according to claim 9ly automatically calculate the device of vehicle impulse ratio by GPS speed, it is characterized in that: described check correcting unit is carried out following steps:
Step 31: in the vehicle operating process, obtain and the speed data of buffer memory gps satellite locating module per second output, be designated as GPS speed Vg, then the GPS speed Vg of per second be recorded as Vg1, Vg2 ..., Vgt; Count P according to the pulse per second (PPS) of vehicle impulse ratio R and pulse transducer detection and calculate vehicle per second travel speed, to be designated as impulse speed Vp by the per second travel speed that this mode obtains, then the impulse speed Vp of per second be recorded as Vp1, Vp2 ..., Vpt, impulse speed Vp computing formula is for calculating the anti-process of vehicle impulse ratio R: Vp=(1000 * P)/R, and P is the pulse per second (PPS) number;
Step 32: calculate the average velocity of the GPS speed of each sample time section Tc, will be designated as by the average velocity that this mode calculates GPS average velocity Va1, Va1=L/Tc, wherein L is the distance travelled that calculates by per second GPS speed; Calculate the average velocity of the impulse speed of each sample time section, will be designated as by the average velocity that this mode calculates average pulse speed Va2, Va2=(Vp1+Vp2+ ... + Vpt)/Tc; Distance travelled L calculates with revised per second GPS speed, GPS speed makeover process is as follows: with speed by size interval value be divided into n grade, GPS velocity error coefficient under the different brackets is designated as Ex, each grade error log be E1, E2 ..., En, error is defined as Ex=(actual travel speed-GPS speed)/GPS speed; Then distance travelled L computing formula is as follows: L=Vg1*(1+Ex) the * t of * t+Vg2*(1+Ex)+... + Vgt*(1+Ex) * t, t=1s;
Step 33: GPS average velocity Va1 and average pulse speed Va2 are carried out sampling fraction, are Nc with the sample section number scale, and Nc is natural number, Nc〉1; The GPS average velocity Va1 of sampling is designated as: Va1
1, Va1
2Va1
CVa1
NcThe average pulse speed Va2 of sampling is designated as: Va2
1, Va2
2Va2
CVa2
Nc
Step 34: calculate respectively Va1
1, Va1
2Va1
CVa1
NcAnd Va2
1, Va2
2Va2
CVa2
NcBetween error value E
1, E
2E
CE
Nc, E
C=︱ Va1
C-Va2
C︱/Va1
C, 1≤C≤Nc; Whether the error in judgement value is reasonable, and process is as follows: if satisfy E
CThe number of A is greater than preset value Nx, and 0＜A＜1,1≤Nx≤Nc, then this vehicle impulse ratio R is undesirable, represents that current vehicle impulse ratio R makes mistakes, and then removes vehicle impulse ratio R in the parameter region, returns step 1 and again mates and calculate the vehicle impulse ratio; Otherwise represent that this vehicle impulse ratio R meets the requirements.
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| CN104977026A (en) * | 2015-07-30 | 2015-10-14 | 成都亿盟恒信科技有限公司 | Speed shifting interference prevention algorithm for calculating vehicle pulse coefficient K value by utilizing Beidou satellite positioning system |
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