RU2405127C1 - Method of recording packets of navigation data transmitted by global navigation system and characterising position of moving object - Google Patents

Abstract

FIELD: physics. ^ SUBSTANCE: packets contain sensor data received from sensors installed on the object. Data packets are transmitted to a storage device installed on said object or at a distance from said object every time empirical mathematical conditions are met, where said conditions employ the characteristics of the direction of movement of the object contained in data packets received and transmitted last, the speed of the object contained in the data packet received last, the maximum possible speed of said object and constants selected depending on the range of said maximum possible speed. ^ EFFECT: cutting on amount of data transmitted to the storage device, while maintaining the required accuracy of constructing the path of a moving object. ^ 2 cl, 1 dwg

Description

FIELD OF THE INVENTION

The invention relates to the field of telecommunications, information-measuring and computing equipment and, more specifically, to methods for registering navigation data packets, each of which contains data transmitted by the global navigation system that characterize the location and movement parameters of a moving object. The location of the object is indicated in the package of navigation data by the coordinates of the geographical point of location of this object on the ground. Each navigation data packet characterizes one such geographical point. Connecting these points with line segments, get the trajectory of the object. The parameters of the moving object moving include the time point of fixing the location of the object, its speed and direction of its movement. If necessary, these packets may also contain sensory data received from sensors located at this facility. The sensory data included in these packets may be event-related, that is, they may reflect discretely the occurrence of certain events and / or measurement, that is, be the results of measurements of physical quantities.

The invention can find application in various telematic registration systems in which the global positioning system GPS-NAVSTAR, the global navigation system GLONASS, the Galileo system and other similar systems are used.

The invention can be used in various telematic systems for monitoring one or many moving objects, for example, land, river, sea vehicles. It will be useful in monitoring systems containing on-board telematics equipment installed on each moving object, a monitoring station containing a computer in which data packets received from the on-board equipment of moving objects are accumulated, and information transfer means connecting the monitoring station with moving objects.

State of the art

There is a method of registering navigation data packets, each of which contains data characterizing the location of a moving object, consisting in the fact that using the navigation receiver periodically receive data packets from the global navigation system and then transmit the navigation data packets to a drive located on this object or on distance from it, and the pre-selected constant period of transmission of these packets to the drive is greater than the period of receipt of data packets at the output of the navigation receiver ka (see US Patent No. US 6,816,761 of 2001, cl. 701/35, 701/211 for the invention of "System and method for monitoring moving equipment operation"). In this method, if necessary, before transmitting the navigation data packets to the storage device, they enter event sensory data received from sensors located on this object and represented by signals about the beginning and end of a certain section of the path.

The disadvantage of this method is due to the fact that it uses a constant period of transmission of navigation data packets to the drive, and that these packets are transmitted to the drive regardless of the current speed of moving a moving object and current changes in its direction of movement (that is, regardless of its angles turning). As a result, with a sufficiently high accuracy in representing the trajectory of a moving object, it is necessary to transfer an unreasonably large number of navigation data packets to the drive, which increases the operating costs of the data transfer system and increases the required memory capacity of the drive.

The prototype of the proposed method is a method of registering navigation data packets, each of which contains data characterizing the location of a moving object, consisting in the fact that using the navigation receiver periodically receive data packets from the global navigation system and then transmit the navigation data packets to the drive located on this object or at a distance from it, and the period of transmission of these packets to the drive is longer than the period of receiving packets of navigation data at the output of the navi gation receiver (see US patent No. US 6,765,499 of 2002, CL 340/989, 342/357, 701/213 for the invention "Vehicle tracking unit providing variable frequency transmission and related methods"). In this method, in contrast to the specified analogue (see US patent No. US 6,816,761), it is possible to change the period of transmission of data packets to the drive by an event that initiates the installation of a new constant value of subsequent periods. In the prototype patent, such an event is called initiating. In the prototype method, a signal about a certain initiating event sets a new constant value for the period of transmission of data packets to the drive for all periods following this event until a signal appears about a new initiating event. According to this method, such an initiating event may be the excess of the speed of the moving object of a predetermined threshold, the receipt of a signal about a change in the period of transmission of data packets from the monitoring center of a moving object, reaching predetermined times and filling a given amount of intermediate memory of data packets before transferring them to a drive located in the center monitoring, that is, at a distance from a moving object.

The disadvantage of this method is due to the fact that a signal about the initiating event sets a constant value only for subsequent periods of transmission of data packets to the drive, regardless of the current speed of moving a moving object and current changes in the direction of its movement, while the current period of transmission of a data packet is not regulated and remains constant . This does not significantly reduce the number of navigation data packets transmitted to the drive, since the current period of data packet transmission, which was set at the time of the occurrence of the next triggering event, does not change, and the period of transmission of data packet between adjacent time-triggering events remains constant.

In addition, all the initiating events indicated in the prototype do not allow regulating the values of each data packet transmission period along the entire path of the object, since they are associated only with extreme cases (exceeding the object’s speed threshold, filling a given amount of memory) and special situations (receiving a signal from monitoring center, achievement of predetermined moments of time) that can occur during the movement of an object and are not related to the current characteristics of the object’s movement and it’s enough DKI.

Disclosure (essence) of the invention

The objective of the invention is to develop such a method of registering packages of navigation data transmitted by the global navigation system and characterizing the location of a moving object, which, in comparison with the prototype, would provide a technical result in the form of simultaneously achieving the following goals:

- reduction in the number of packages of navigation data transmitted to the drive, with high accuracy of the construction of the trajectory of the object;

- reduction of the regular costs of operating data transmission systems in the monitoring system of moving objects;

- reduction of the required memory capacity of the drive storing registered data packets;

- expanding the range of tasks solved by the monitoring system of moving objects, and thereby increasing the number of areas of application of these systems.

In implementing these goals, various application conditions must be taken into account, characterized by the speed and mass of the moving object, the state of the road surface, etc.

This technical result is achieved, firstly, due to the fact that in the method of registering navigation data packets characterizing the location of a moving object, data packets are periodically received from the global navigation system using the navigation receiver and then data packets are transferred to a drive located on this object or at a distance from it, and the period of transmission of these packets to the drive is longer than the period of receiving packets of navigation data at the output of the navigation receiver, and, unlike prototypes, the transmission of data packets in the drive every time you make the conditions:

if | ΔA |> φ,

and if at the same time

| ΔA | × S> β × S _max ,

or if | ΔA | ≤φ,

and if at the same time

TT * ≥p,

Where

| ΔA | = | A * -A | × α + (360 ° - | A * -A |) × (1-α).

Here

| ΔA | - the absolute value of the angle of rotation of a moving object, independent of the direction of the angle of rotation;

φ is the absolute value of the angle of change in the direction of movement of the object in degrees, set depending on the conditions of use, at not exceeding which data packets are transferred to the drive with the same constant period as with rectilinear movement of the object;

S is the value of the speed of the object in nodes, indicated in the last data packet received from the navigation receiver;

S _max - the maximum possible speed of a moving object, indicated in nodes;

β is the absolute value of the angle of rotation of a moving object in degrees, which determines the minimum period of transmission of packets to the drive at the maximum possible speed S _{max of the} object;

T is the time point of fixing the location of the object by the global navigation system, indicated in the last data packet received from the navigation receiver;

T ^* is the instant of fixing the location of the object by the global navigation system, indicated in the last data packet transmitted to the drive;

p is a constant that determines the period of transmission of data packets to the drive, the value of which is set depending on the conditions of use; p> 0;

A - azimuth in degrees, characterizing the direction of movement of the object and indicated in the last data packet received from the navigation receiver;

A * is the azimuth in degrees, characterizing the direction of the object’s movement and indicated in the last data packet transmitted to the drive;

α = 1 if | A * -A | ≤180 °;

α = 0 if | A * -A |> 180 °.

When these conditions are met, the completion of each current period of transmission of data packets to the drive is ensured when the value of each current period becomes in some sense optimal for the current characteristics of the object’s movement. Thus, the proposed method more effectively regulates the values of all periods of transmission of data packets than the prototype method, which cannot change the current periods of transmission of data packets, and assigns new constant values for subsequent periods of transmission of these packets.

This allows you to reduce the number of packages of navigation data transmitted to the drive, while maintaining the required accuracy of constructing the trajectory of the object; reduce the regular costs of operating data transmission systems in a monitoring system for moving objects and reduce the required memory capacity of a drive that stores registered data packets.

Secondly, the technical result is facilitated by the fact that the first received data packet is always transferred to the drive without checking the above conditions for transferring packets to the drive. This simplifies the method of registering navigation data packets.

Thirdly, the technical result is achieved due to the fact that sensory data received from sensors located on a moving object is introduced into data packets transmitted to the drive, and these sensory data can be either measurement or event. This allows you to expand the range of tasks solved by the monitoring system of moving objects, and thereby increase the number of applications of these systems. As sensors of measuring sensory data, or in other words, sensors of physical quantities, digital meters of various sizes can be used, for example, sensors of temperature, pressure, liquid level, fuel consumption, electricity consumption, etc. As sensors of event sensory data, or in other words, event sensors, various relay sensors can be used, for example, vehicle door open sensors, and sensors for reaching threshold values of various physical quantities.

Brief Description of the Drawings

The drawing shows an example of a generalized structural diagram of a system for monitoring moving objects, which shows the possibility of registering packages of navigation data in a remote drive located at the monitoring station, and in the on-board drive installed on a moving object.

The implementation of the invention

The proposed method is intended for use in various monitoring systems of moving objects, such as vehicles, with on-board telematics equipment. Two main types of these systems are possible: a system with registration of navigation data packets in a remote drive located at a monitoring station, and a system with registration of navigation data packets in an on-board drive installed on a moving object. In a generalized diagram, both types of these systems are shown simultaneously. Both types of systems differ only in the use of remote or on-board drives. The rest of the structure of the systems of both types are the same. Both types of systems are considered below simultaneously and the difference between them is indicated.

A monitoring system with registration of navigation data packets in a remote storage device includes on-board telematics equipment 1 installed on each moving object (not shown in the drawing), and a monitoring station 2 to which data packets received from on-board equipment 1 of moving objects are transmitted. The monitoring station 2, sometimes also called the monitoring center, contains a computer 3, which acts as the central computer of the monitoring system, and a communication means 4 connected to it, which provides radio communication with the on-board equipment 1 of each moving object. In monitoring systems with registration of navigation data packets in a remote drive located at monitoring station 2, the central computer 3 includes a remote drive 5 in which data packets are recorded.

The on-board telematics equipment 1 includes an antenna 6 for receiving signals from a global navigation system (not shown), a navigation receiver 7 connected to an antenna 6, receiving navigation data from a global navigation system, and a telematics controller 8 connected to a navigation receiver 7. In addition, if necessary, sensors 9 of the event and sensors 10 of physical quantities connected to the telematics controller 8 can be introduced into the onboard telematics equipment 1 equipped with a communication tool (not shown) for transmission over a radio channel of data packets to the monitoring station 2 through its communication means 4. In monitoring systems with registration of navigation data packets in the on-board storage device located on a moving object, the on-board telematics equipment 1 includes an on-board storage device 11 connected to the telematic controller 8. Data from the on-board storage device 11 can be transmitted by the telematic controller 8 over the air via communication means 4 to the central computer 3 of the monitoring station 2. The on-board drive 11 can be performed, for example, in the form of flash memory. In this case, it can be transferred to the monitoring station and connected to the central computer 3.

In monitoring systems with registration of navigation data packets in the remote drive 5, there is no on-board drive 11, and in monitoring systems with registration of navigation data packets in the on-board drive 11 there may be no remote drive 5.

The communication device 4 of the monitoring station 2 and the communication device of the telematics controller 8 can be implemented on the basis of cellular communication technology using, for example, GSM / GPRS modems, CDMA modems or satellite communication technologies, in particular Global Star, Irridium, VSAT.

As a global navigation system, GPS-NAVSTAR global positioning system, GLONASS global navigation system, Galileo system and other similar systems can be used.

Registration packages of navigation data in the monitoring system shown in the drawing, is as follows.

Radio signals from the global navigation system through the antenna 6 are fed to the navigation receiver 7, the output of which periodically receives navigation data packets, each of which contains information about the location of a moving object, its speed, azimuth characterizing the direction of its movement, and the time of fixing the location of the global object navigation system. Possible contents of the navigation data package are given, for example, in the “Description of the NMEA-0183 protocol version 2.1,” which discusses a message system for exchanging information between the GPS navigation receiver and users of navigation information (83.htm). These packets from the output of the navigation receiver 7 are read into the telematics controller 8.

If necessary, in the telematics controller 8, the data packets received at the output of the navigation receiver 7 can be converted for further use and transmission. This conversion may include, for example, selecting the parameters necessary for further use from the set of parameters available in the data package, reformatting them, converting to the desired system of units, etc. However, this transformation is not necessary if the data received at the output of the navigation receiver is presented in a form suitable for further use, or if this conversion is carried out simultaneously with the verification of empirical mathematical conditions, which will be discussed below.

From the telematics controller 8, the converted or non-converted navigation data packets are transferred to the desired drive (either to drive 11 or to drive 5, depending on which of these drives register the navigation data packets) when the empirical mathematical conditions for the transfer of each of these packets are met . These conditions will be given below. In the telematics controller 8, these conditions are checked for two data packets: the last packet received from the navigation receiver 7 and not yet transmitted to the drive, and the last packet transmitted to this drive. The last packet received from the navigation receiver 7 and not yet transmitted to the drive is the next packet that can be transmitted to the drive. A packet received from the navigation receiver 7 is understood to mean either an unconverted packet or a packet converted from a packet read by the telematics controller 8 directly from the output of the navigation receiver 7.

If these conditions are met, then using the telematics controller 8 transmit the next package of navigation data to the desired drive - drive 11 located on a moving object, or to drive 5 located at a distance from this object. In this case, the transmission of the next packet to the remote drive 5 is carried out over the air using the communication means (not shown) contained in the telematics controller 8 and the communication means 4 of the monitoring station 2. If these conditions are not met, then the telematics controller 8 proceeds to check these conditions with respect to the next next packet that has not yet been transferred to the desired drive (11 or 5), and the last packet transferred to this drive. The current period of transmission of a packet to the drive (11 or 5) is determined by the time interval between the time at which the last packet sent to it was sent to the drive and the time at which the next subsequent transmitted packet was sent to this drive. Since not every packet received from the navigation receiver 7 is transmitted to the drive, the average transmission period of packets to the drive is longer than the period of receiving packets at the output of the navigation receiver.

Below are the empirical mathematical conditions for transferring next packets to a drive.

Using the telematics controller 8, packets are transferred to the drive (11 or 5) each time the empirical mathematical conditions are met:

if

and if at the same time

either if

and if at the same time

Where

Here

| ΔA | - the absolute value of the angle of rotation of a moving object, independent of the direction of rotation;

φ is the absolute value of the angle of change in the direction of movement of the object in degrees, set depending on the conditions of use, at not exceeding which data packets are transferred to the drive with the same constant period as with rectilinear movement of the object;

S is the value of the speed of the object in nodes, indicated in the last data packet received from the navigation receiver;

S _max - the maximum possible speed of a moving object in nodes, indicated, for example, in the passport data of a moving object;

β is the absolute value of the angle of rotation of the object in degrees, which determines the minimum period of transmission of packets to the drive at the maximum possible speed S _{max of the} object;

T is the time point of fixing the location of the object by the global navigation system, indicated in the last data packet received from the navigation receiver;

T ^* is the instant of fixing the location of the object by the global navigation system, indicated in the last data packet transmitted to the drive;

p is a constant that determines the period of transmission of data packets to the drive, the value of which is set depending on the conditions of use; p> 0;

A - azimuth in degrees, characterizing the direction of movement of the object and indicated in the last data packet received from the navigation receiver;

A * is the azimuth in degrees, characterizing the direction of the object’s movement and indicated in the last data packet transmitted to the drive;

α = 1 if | A * -A | ≤180 °;

α = 0 if | A * -A |> 180 °.

Under conditions (1) and (3), the absolute value φ of the angle of change in the direction of movement of the object, at which the data packets are transmitted to the drive with the same constant period as with the rectilinear movement of the object, is set in the telematics controller 8 depending on the application conditions or as constant, or in accordance with any empirical mathematical conditions. For example, the absolute value φ of the angle of change in the direction of movement of the object is set in accordance with the following empirical conditions:

φ = 0 if S _max <60,

φ = 1, if 60≤S _max <120,

φ = 2, if 120≤S _max <200,

φ = 3 if 200≤S _max ,

where S _max - the maximum possible speed of a moving object in nodes, indicated, for example, in the vehicle passport.

This allows you to take into account the maximum possible speed of a moving object, such as a vehicle, as its characteristic, limiting the possibility of its rotation. According to this characteristic, the higher the maximum possible (passport) speed of the object, the higher the absolute value φ of the angle of change in the direction of movement of the object, at which the data packets are transferred to the drive with the same constant period as with the rectilinear movement of the object.

When conditions (1) and (2) are fulfilled, the moving object moves with a sufficiently large change in the direction of its movement, and the period of transmission of packets to the drive is variable. When conditions (3) and (4) are fulfilled, the moving object moves in a straight line or with a sufficiently small change in the direction of its movement, and the period of transmission of packets to the drive remains constant.

Let us explain formula (5). To characterize the directions of motion of the object in formula (5), a geodetic azimuth is used, which represents the angle between the direction to the north (in the northern hemisphere of the Earth) and the direction of motion of the object, counted clockwise. We assume that they use the true azimuth, i.e. the geographic meridian is taken as the initial direction. Note that the azimuths (A * and A) have the same sign, regardless of the direction of rotation of the object:

0≤A * ≤360 °, 0≤A≤360 °.

To simplify, it is accepted that for one period of transferring packets to the drive, a moving object cannot make a left or right turn more than 180 degrees. Such an assumption is practically acceptable, because, on the one hand, it is a fairly large angle, and on the other hand, a moving object, such as a vehicle, is difficult to turn a larger angle in a relatively short time period. Under this assumption, we assume that if | A * -A | ≤180 °, then α = 1 and formula (5) takes the form:

| ΔA | = | A * -A |.

If | A * -A |> 180 °, then α = 0 and formula (5) takes the form:

| ΔA | = 360 ° - | A * -A |.

The first data packet received from the navigation receiver 7 using the telematics controller 8 is always transmitted to the desired drive without checking the conditions (1-4) indicated above.

If necessary, sensory data received from event sensors 9 and / or sensors 10 of physical quantities located on a moving object are introduced into the data packets transmitted to the drive using the telematics controller 8. This allows, for example, to organize, using sensors 9, monitoring the status of mechanisms located on the vehicle, for example, the ignition switch, interior doors, bonnet, bucket, body, load lifting systems, and using sensors 10, control the vehicle engine operation parameters ( for example, the number of revolutions of the crankshaft, temperature in the cooling system, pressure in the lubrication system), control of axle pressure, fuel consumption, fuel level in tanks, voltage in the power supply circuit, etc. In addition, in the transmitted data packets, the telematics controller 8 may include the values of some derived values calculated by it based on sensory data received from sensors 9 and 10.

Claims (2)

1. The method of registering packages of navigation data characterizing the location of a moving object, which consists in the fact that using the navigation receiver periodically receive data packets from the global navigation system and then transmit data packets to a drive located at or away from this object, the period being the transmission of these packets to the drive is longer than the period of receiving data packets at the output of the navigation receiver, characterized in that the first data packet is transmitted to the drive, and the transmission to incoming packets of data in the drive every time you make the conditions:
if | ΔA |> φ,
and if at the same time
| ΔA | · S> β · S _max ,
or if | ΔA | ≤φ,
and if at the same time
TT * ≥p,
where | ΔA | = | A * -A | · α + (360 ° - | A * -A |) · (1-α), here | ΔA | - the absolute value of the angle of rotation of a moving object, independent of the direction of rotation;
φ is the absolute value of the angle of change in the direction of movement of the object in degrees, set depending on the conditions of use, at not exceeding which data packets are transferred to the drive with the same constant period as with rectilinear movement of the object;
S is the value of the speed of the object in nodes, indicated in the last data packet received from the navigation receiver;
S _max - the maximum possible speed of a moving object, indicated in nodes;
β is the absolute value of the angle of rotation of a moving object in degrees, which determines the minimum period of transmission of packets to the drive at the maximum possible speed S _{max of the} object;
T is the time point of fixing the location of the object by the global navigation system, indicated in the last data packet received from the navigation receiver;
T * is the instant of fixing the location of the object by the global navigation system, indicated in the last data packet transmitted to the drive;
p is a constant that determines the period of transmission of data packets to the drive, the value of which is set depending on the conditions of use, p>0;
A - azimuth in degrees, characterizing the direction of movement of the object and indicated in the last data packet received from the navigation receiver;
A * - azimuth in degrees, characterizing the direction of movement of the object and specified in the last data packet transmitted to the drive;
α = 1 if | A * -A | ≤180 °;
α = 0 if | A * -A |> 180 °. 2. The method according to claim 1, characterized in that sensory data received from sensors located on a moving object is introduced into data packets transmitted to the drive.

Images