Positioning system, onboard positioning device and positioning method thereof

• US 10,001,565 B2
• Filed: 12/28/2016
• Issued: 06/19/2018
• Est. Priority Date: 06/02/2016
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Hwu, Jing-Shyang, Chao, Yung-Cheng, Wang, Po-Fan, Kang, Po-Chun
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US15/391,849
• Publication Number:
  US 20170350986A1
• Time in Patent Office: 538 Days
• CPC Class Codes: G01S 19/03 Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
• CPC Class Codes: G01S 19/235 Calibration of receiver components
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

A positioning system having an onboard positioning device and a roadside device is provided. The onboard positioning device receives a plurality of first positioning signals and records a positioning moving locus of a vehicle according to the first positioning signals. The roadside device detects a real moving locus of the vehicle. The onboard positioning device obtains the real moving locus from the roadside device, and calculates a positioning calibration value according to coordinates of the positioning moving locus and coordinates of the real moving locus. Furthermore, the onboard positioning device receives a plurality of second positioning signals and calculates and outputs a plurality of calibrated positioning coordinates according to the second positioning signals and the positioning calibration value.

Claims

1. An positioning system, comprising:

an onboard positioning device placed in a vehicle, receiving a plurality of first positioning signals from a satellite positioning system within one time interval, and recording a positioning moving locus of the vehicle according to the plurality of first positioning signals, wherein the positioning moving locus has a plurality of positioning moving coordinates; and

a roadside device, detecting a real moving locus of the vehicle within the one time interval, wherein the real moving locus has a plurality of real moving coordinates;

wherein the onboard positioning device obtains the real moving locus from the roadside device, calculates a positioning calibration value according to the plurality of positioning moving coordinates of the positioning moving locus and the plurality of real moving coordinates of the real moving locus,

wherein the onboard positioning device receives a plurality of second positioning signals from the satellite positioning system, calculates and outputs a plurality of calibrated positioning coordinates of the vehicle according to the plurality of second positioning signals and the positioning calibration value.

2. The positioning system as claimed in claim 1, wherein the roadside device comprises a sensing circuit and a processing circuitry, the sensing circuit detects a plurality of relative moving coordinates of the vehicle, and the processing circuitry obtains the real moving locus of the vehicle according to an absolute positioning coordinate of the roadside device and the plurality of relative moving coordinates of the vehicle.

3. The positioning system as claimed in claim 2, wherein the sensing circuit of the roadside device uses a radar detection technique or an image recognition technology to continuously sense the plurality of relative moving coordinates of the vehicle.

4. The positioning system as claimed in claim 2, wherein the process g circuitry of the roadside device transforms the plurality of relative moving coordinates into the plurality of real moving coordinates of the vehicle according to the absolute positioning coordinate.

5. The positioning system as claimed in claim 2, wherein the roadside device further comprises a wireless communication circuit,

wherein the processing circuitry identifies an identification of the vehicle and broadcasts a sensing information of the vehicle from the wireless communication circuit,

wherein the sensing information includes the plurality of real moving coordinates of the vehicle, said one time interval, and the identification of the vehicle.

6. The positioning System as claimed in claim 5, wherein the onboard positioning device comprises a wireless communication circuit, a track database, and a processing circuitry,

wherein the wireless communication circuit receives the sensing information from the roadside device,

wherein the processing circuitry identifies the real moving locus of the vehicle according to the identification of the vehicle in the sensing information, and records the real moving locus of the vehicle into the track database of the onboard positioning device.

7. The positioning system as claimed in claim 1, wherein the onboard positioning device comprises a wireless communication circuit, a track database, and a processing circuitry,

wherein the processing circuitry respectively calculates a corresponding first-axis difference between each coordinate of a first axis of the plurality of real moving coordinates and each coordinate of the first axis of the plurality of positioning moving coordinates, and calculates a corresponding second-axis difference between each coordinate of a second axis of the plurality of real moving coordinates and each coordinate of the second axis of the plurality of positioning moving coordinates,

wherein the processing circuitry calculates a first-axis calibration value according to a plurality of first-axis differences and a second-axis calibration value according to a plurality of second-axis differences, and outputs the first-axis calibration value and the second-axis calibration value as the positioning calibration value.

8. The positioning system as claimed in claim 7, wherein the wireless communication circuit of the onboard positioning device receives the real moving locus in a sensing information from the roadside device,

wherein the processing circuitry of the onboard positioning device records the real moving locus of the vehicle into the track database of the onboard positioning device according to an identification of the vehicle in the sensing information.

9. The positioning system as claimed in claim 7, wherein the processing circuitry of the onboard positioning device calculates a plurality of the positioning coordinates of the vehicle according to the plurality of second positioning signals, and adjusts a plurality of first-axis positioning coordinates and a plurality of second-axis positioning coordinates, according to the first-axis calibration value and the second-axis calibration value to obtain the plurality of calibrated positioning coordinates respectively.

10. The positioning system as claimed in claim 1, wherein the satellite positioning system includes a first satellite, a second satellite and a third satellite, the onboard positioning device comprises a processing circuitry,

wherein the processing circuitry calculates, based on the one time interval, a plurality of first virtual distances between the plurality of positioning moving coordinates and the first satellite, a plurality of second virtual distances between the plurality of positioning moving coordinates and the second satellite, and a plurality of third virtual distances between the plurality of positioning moving coordinates and the third satellite,

wherein the processing circuitry calculates, based on the one time interval, a plurality of first actual distances between the plurality of real moving coordinates and the first satellite, a plurality of actual virtual distances between the plurality of real moving coordinates and the second satellite, and a plurality of third actual distances between the plurality of real moving coordinates and the third satellite,

wherein the processing circuitry calculates a first virtual distance difference according to the plurality of first virtual distances and the plurality of first actual distances, a second virtual distance difference according to the plurality of second virtual distances and the plurality of second actual distances, and a third virtual distance difference according to the plurality of third virtual distances and the plurality of third actual distances,

wherein the processing circuitry outputs the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference as the positioning calibration value.

11. The positioning system as claimed in claim 10, wherein the processing circuitry of the onboard positioning device obtains a first-satellite virtual distance, a second-satellite virtual distance, and a third-satellite virtual distance based on the plurality of second positioning signals, and adjusts the first-satellite virtual distance, the second-satellite virtual distance, and the third-satellite virtual distance, according to the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference, respectively, and calculates the positioning calibration value of the vehicle based on an adjusted first-satellite virtual distance, an adjusted second-satellite virtual distance, and an adjusted third-satellite virtual distance.

12. An onboard positioning device placed in a vehicle, the on board positioning device comprising:

a positioning signal receiver circuit, within one time interval, receiving a plurality of first positioning signals from a satellite positioning system;

a wireless communication circuit, obtaining a real moving locus of the vehicle within the one time interval from a roadside device, wherein the real moving locus has a plurality of real moving coordinates; and

a processing circuitry, coupled to the positioning signal receiver circuit and the wireless communication circuit,

wherein the processing circuitry records a positioning moving locus of the vehicle according to the plurality of first positioning signals, and the positioning moving locus has a plurality of positioning moving coordinates,

wherein the processing circuitry calculates a positioning calibration value according to the plurality of positioning moving coordinates of the positioning moving locus and the plurality of real moving coordinates of the real moving locus,

wherein the onboard positioning device receives a plurality of second positioning signals from the satellite positioning system,

wherein the processing circuitry calculates and outputs a plurality of calibrated positioning coordinates of the vehicle according to the plurality of second positioning signals and the positioning calibration value.

13. The onboard positioning device as claimed in claim 12, wherein the roadside device detects a plurality of relative moving coordinates of the vehicle, and obtains the real moving locus of the vehicle according to an absolute positioning coordinate of the roadside device and the plurality of relative moving coordinates of the vehicle.

14. The onboard positioning device as claimed in claim 13, wherein the roadside device uses a radar detection technique or an image recognition technology to continuously sense the plurality of relative moving coordinates of the vehicle.

15. The onboard positioning device as claimed in claim 13, wherein the roadside device transforms the plurality of relative moving coordinates into the plurality of real moving coordinates of the vehicle according to the absolute positioning coordinate.

16. The onboard positioning device as claimed in claim 13, wherein the roadside device identifies an identification of the vehicle and broadcasts a sensing information of the vehicle, wherein the sensing information includes the plurality of real moving coordinates of the vehicle, said one time interval, and the identification of the vehicle.

17. The onboard positioning device as claimed in claim 16, further comprising a track database,

wherein the wireless communication circuit of the onboard positioning device receives the sensing information from the roadside device,

wherein the processing circuitry of the onboard positioning device identifies the real moving locus of the vehicle according to the identification of the vehicle in the sensing information, and records the real moving locus of the vehicle into the track database of the onboard positioning device.

18. The onboard positioning device as claimed in claim 12, wherein the processing circuitry respectively calculates a corresponding first-axis difference between each coordinate of a first axis of the plurality of real moving coordinates and each coordinate of the first axis of the plurality of positioning moving coordinates, and calculates a corresponding second-axis difference between each coordinate of a second axis of the plurality of real moving coordinates and each coordinate of the second axis of the plurality of positioning moving coordinates,

wherein the processing circuitry calculates a first-axis calibration value according to a plurality of first-axis differences and a second-axis calibration value according to a plurality of second-axis differences, and outputs the first-axis calibration value and the second-axis calibration value as the positioning calibration value.

19. The onboard positioning device as claimed in claim 18, wherein the processing circuitry calculates a plurality of the positioning coordinates of the vehicle according to the plurality of second positioning signals, and adjusts a plurality of first-axis positioning coordinates and a plurality of second-axis positioning coordinates, according to the first-axis calibration value and the second-axis calibration value to obtain the plurality of calibrated positioning coordinates, respectively.

20. The onboard positioning device as claimed in claim 12, wherein the satellite positioning system includes a first satellite, a second satellite, and a third satellite,

wherein the processing circuitry calculates, based on the one time interval, a plurality of first virtual distances between the plurality of positioning moving coordinates and the first satellite, a plurality of second virtual distances between the plurality of positioning moving coordinates and the second satellite, and a plurality of third virtual distances between the plurality of positioning moving coordinates and the third satellite,

wherein the processing circuitry calculates, based on the one time interval, a plurality of first actual distances between the plurality of real moving coordinates and the first satellite, a plurality of actual virtual distances between the plurality of real moving coordinates and the second satellite, and a plurality of third actual distances between the plurality of real moving coordinates and the third satellite,

wherein the processing circuitry calculates a first virtual distance difference according to the plurality of first virtual distances and the plurality of first actual distances, a second virtual distance difference according to the plurality of second virtual distances and the plurality of second actual distances, and a third virtual distance difference according to the plurality of third virtual distances and the plurality of third actual distances,

wherein the processing circuitry outputs the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference as the positioning calibration value.

21. The onboard positioning device as claimed in claim 20, wherein the processing circuitry obtains a first-satellite virtual distance, a second-satellite virtual distance, and a third-satellite virtual distance based on the plurality of second positioning signals, and adjusts the first-satellite virtual distance, the second-satellite virtual distance, and the third-satellite virtual distance, according to the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference, respectively, and calculates the positioning calibration value of the vehicle based on an adjusted first-satellite virtual distance, an adjusted second-satellite virtual distance, and an adjusted third-satellite virtual distance.

22. A positioning method, adapted to an onboard positioning device in a vehicle, the positioning method comprising:

receiving a plurality of first positioning signals from a satellite positioning system within one time interval;

recording a positioning moving locus of the vehicle according to the plurality of first positioning signals, wherein the positioning moving locus has a plurality of positioning moving coordinates;

obtaining a real moving locus of the vehicle within the one time interval from a roadside device, wherein the real moving locus has a plurality of real moving coordinates;

calculating a positioning calibration value according to the plurality of positioning moving coordinates of the positioning moving locus and the plurality of real moving coordinates of the real moving locus;

receiving a plurality of second positioning signals from the satellite positioning system; and

calculating and outputting a plurality of calibrated positioning coordinates of the vehicle according to the plurality of second positioning signals and the positioning calibration value.

23. The positioning method as claimed in claim 22, wherein the roadside device detects a plurality of relative moving coordinates of the vehicle, and obtains the real moving locus of the vehicle according to an absolute positioning coordinate of the roadside device and the plurality of relative moving coordinates of the vehicle.

24. The positioning method as claimed in claim 23, wherein the roadside device uses a radar detection technique or an image recognition technology to continuously sense the plurality of relative moving coordinates of the vehicle.

25. The positioning method as claimed in claim 23, wherein the roadside device transforms the plurality of relative moving coordinates into the plurality of real moving coordinates of the vehicle according to the absolute positioning coordinate.

26. The positioning method as claimed in claim 23, wherein the roadside device identifies an identification of the vehicle and broadcasts a sensing information of the vehicle, and the sensing information includes the plurality of real moving coordinates of the vehicle, said one time interval, and the identification of the vehicle.

27. The positioning method as claimed in claim 26, the step of obtaining the real moving locus of the vehicle from the roadside device comprising:

receiving a sensing information of the vehicle from the roadside device; and

identifying and recording the real moving locus of the vehicle according to the identification of the vehicle in the sensing information.

28. The positioning method as claimed in claim 22, the step of calculating the positioning calibration value according to the plurality of positioning moving coordinates of the positioning moving locus and the plurality of real moving coordinates of the real moving locus comprising:

calculating a corresponding first-axis difference between each coordinate of a first axis of the plurality of real moving coordinates and each coordinate of the first axis of the plurality of positioning moving coordinates, and calculating a corresponding second-axis difference between each coordinate of a second axis of the plurality of real moving coordinates and each coordinate of the second axis of the plurality of positioning moving coordinates, respectively;

calculating a first-axis calibration value according to a plurality of first-axis differences and a second-axis calibration value according to a plurality of second-axis differences; and

outputting the first-axis calibration value and the second-axis calibration value as the positioning calibration value.

29. The positioning method as claimed in claim 28, the step of calculating and outputting the plurality of calibrated positioning coordinates of the vehicle according to the plurality of second positioning signals and the positioning calibration value comprising:

calculating a plurality of the positioning coordinates of the vehicle according to the plurality of second positioning signals; and

adjusting a plurality of first-axis positioning coordinates and a plurality of second-axis positioning coordinates, according to the first-axis calibration value and the second-axis calibration value to obtain the plurality of calibrated positioning coordinates, respectively.

30. The positioning method as claimed in claim 22, wherein the satellite positioning system includes a first satellite, a second satellite and a third satellite, wherein the step of calculating the positioning calibration value according to the plurality of positioning moving coordinates of the positioning moving locus and the plurality of real moving coordinates of the real moving locus comprises:

calculating, based on the one time interval, a plurality of first virtual distances between the plurality of positioning moving coordinates and the first satellite, a plurality of second virtual distances between the plurality of positioning moving coordinates and the second satellite, and a plurality of third virtual distances between the plurality of positioning moving coordinates and the third satellite;

calculating, based on the one time interval, a plurality of first actual distances between the plurality of real moving coordinates and the first satellite, a plurality of actual virtual distances between the plurality of real moving coordinates and the second satellite, and a plurality of third actual distances between the plurality of real moving coordinates and the third satellite;

calculating a first virtual distance difference according to the plurality of first virtual distances and the plurality of first actual distances, a second virtual distance difference according to the plurality of second virtual distances and the plurality of second actual distances, and a third virtual distance difference according to the plurality of third virtual distances and the plurality of third actual distances; and

outputting the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference as the positioning calibration value.

31. The positioning method as claimed in claim 30, the step of calculating and outputting the plurality of calibrated positioning coordinates of the vehicle according to the plurality of second positioning signals and the positioning calibration value comprising:

obtaining a first-satellite virtual distance, a second-satellite virtual distance, and a third-satellite virtual distance based on the plurality of second positioning signals;

adjusting the first-satellite virtual distance, the second-satellite virtual distance, and the third-satellite virtual distance, according to the first virtual distance difference, the second virtual distance difference, and the third virtual distance difference, respectively; and

calculating the positioning calibration value of the vehicle based on an adjusted first-satellite virtual distance, an adjusted second-satellite virtual distance, and an adjusted third-satellite virtual distance.