Research And Development Of Vehicle Positioning System With High Precision,High Frequency And High Fault Tolerance Based On RSU

With the rapid development of automatic driving in the Internet of Vehicles,the positioning method of the vehicle has become a key research direction of the automatic driving technology,and it has received great attention from researchers at home and abroad in recent years.At present,the positioning mode of the vehicle is GPS positioning.This GPS positioning system is a civilian method and is based on a pseudorange positioning method,so it's accuracy is low.In the high-precision satellite positioning,there is a positioning method,which is a phase-based positioning method.The accuracy of the positioning method is high,the real-time performance is good,and the phase positioning in the double-difference mode develops very well in practice.The representative of this is the network RTK.If this positioning method is used directly,its cost is too high and it is not easy to popularize.Therefore,based on the positioning algorithm of network RTK,this paper designs a roadside unit based on RSU.So we designed the vehicle positioning system that simulates the algorithm.In the design of the model,we use the roadside unit and the vehicle to communicate to design the model,and then design the model algorithm of this paper.In the phase problem,this paper uses the RSU device and the fixed model wireless network card to obtain the wireless signal.The wireless signal includes channel state information-CSI,which is based on the physical layer to analyze the signal,which contains phase information and amplitude information of multiple sub-carriers,so the phase information is obtained in this way,and is also designed based on LAMBDA.The algorithm's whole-circumference ambiguity solving algorithm uses this new method to solve the whole-circumference ambiguity in this model.For the model designed in this paper,the corresponding positioning system is designed,the demand system is analyzed,the design is analyzed,and then the model is verified and the system is implemented.The experiment process includes: sending the position information,the base station needs to send it to the vehicle.The position coordinates,which include the position coordinates of the street lamp and the lamp holder in the system model;the CSI information is collected,the CSI information is processed,and the phase information is parsed.For the phase part,it needs to be performed under the Ubuntu system,using a fixed type network card,Modify the wireless driver of the system,modify the firmware,collect CSI information,then parse it with MATLAB,parse out the CSI information part,and classify the mac addresses of different transmitters during the parsing process;verify the whole week ambiguity The basic principle of the algorithm is to use the least squares method.On the basis of it,the solution method based on LAMBDA algorithm is adopted.Finally,we verify the model and system.The experiment needs to be carried out in an open space,keeping the vehicle moving at a constant speed and low speed,verifying the positioning accuracy and accuracy,and finally finding that the positioning method can be accurate to the decimeter level.