CN114994599B - A vehicle positioning device and method suitable for multi-track straight lanes - Google Patents
A vehicle positioning device and method suitable for multi-track straight lanes Download PDFInfo
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- CN114994599B CN114994599B CN202210591402.8A CN202210591402A CN114994599B CN 114994599 B CN114994599 B CN 114994599B CN 202210591402 A CN202210591402 A CN 202210591402A CN 114994599 B CN114994599 B CN 114994599B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
本发明涉及一种适用于多轨道直巷道车辆定位装置及方法，涉及轨道车辆定位领域，首先利用超声波模块和水平陀螺仪获得机车到巷道壁的直线距离，在利用一对超宽带UWB定位标签获得距离差，通过代数求解单曲线方程，便可得到机车的位置坐标，并利用5G移动通信网络将定位结果发送给主控终端。本发明结构简单，操作容易。本发明中的上述装置可用于实现多辆机车定位。
The present invention relates to a device and method for locating vehicles in multi-track straight lanes, and relates to the field of rail vehicle positioning. First, an ultrasonic module and a horizontal gyroscope are used to obtain the straight-line distance from the locomotive to the lane wall, and then a pair of ultra-wideband UWB positioning tags are used to obtain the distance difference. By algebraically solving the single curve equation, the position coordinates of the locomotive can be obtained, and the positioning result is sent to the main control terminal using a 5G mobile communication network. The present invention has a simple structure and is easy to operate. The above-mentioned device in the present invention can be used to realize the positioning of multiple locomotives.
Description
Technical Field
The invention relates to the field of vehicle positioning, in particular to a device and a method suitable for positioning a multi-track straight roadway vehicle.
Background
In order to strengthen intelligent mine construction, the development of the related technology of the rail car is a hot spot in recent years, wherein the positioning of the rail car is an important part. Under real conditions, the GPS signal cannot be received in the hyperthermia road due to the obstruction of the rock and soil layers, and the positioning of the railway vehicle brings challenges. Bluetooth, zigBee and ultrasonic technologies can realize simple positioning and tracking, but have narrow measurable ranges, and are not suitable for being independently applied in a roadway. The multiband radar has wide measurable range and high precision, can solve the problem of roadway positioning and tracking, but has high power consumption and high cost. In recent years, with the development of communication technology, UWB technology is more and more mature, and simple structure is easy to install and maintain, has advantage with low costs, low power consumption. However, UWB positioning generally requires installing a plurality of positioning base stations on the wall of the roadway, which not only has high cost, but also causes instability to other devices in the roadway due to excessive positioning base stations. The patent 'an unmanned system of mining electric locomotive based on UWB technology' (application number: 202110250724.1) invents an unmanned system which fuses a plurality of sensor modules, but only uses ultrasonic ranging as obstacle avoidance in a positioning part, and the information of the part is not fully utilized, and a plurality of sensors are installed around a vehicle, so that the installation difficulty is increased.
Disclosure of Invention
The invention aims to provide a positioning device and a positioning method suitable for a multi-track straight roadway vehicle, so that positioning accuracy is improved, and positioning of a plurality of locomotives can be realized.
In order to achieve the above object, the present invention provides the following solutions:
a positioning device suitable for use with a multi-track straight roadway vehicle, the positioning device comprising:
the positioning base station is arranged at the top of one side of the roadway and is used for periodically sending out signals;
the positioning tag is used for receiving signals sent by the positioning base station;
The ultrasonic module is used for measuring the distance from the locomotive to the side wall of the roadway;
a horizontal gyroscope for measuring a horizontal deflection angle;
And the processor is connected with the positioning tag, the ultrasonic module, the positioning base station and the horizontal gyroscope and is used for calculating coordinates of the vehicle.
Optionally, the positioning device further includes:
A housing;
the positioning tag and the ultrasonic module are arranged on the shell.
Optionally, the positioning base station includes:
the antenna comprises a first antenna, a first antenna receiving and transmitting module and a first high-precision clock.
Optionally, the positioning tag comprises a second antenna, a third antenna, a second antenna transceiver module, a third antenna transceiver module, a second high-precision clock and a third high-precision clock;
the second antenna and the third antenna are respectively arranged at two ends of the shell.
Optionally, the ultrasonic module comprises an ultrasonic transmitter and an ultrasonic receiver.
Based on the device in the invention, the invention further provides a positioning method suitable for the multi-track straight roadway vehicle, which comprises the following steps:
Measuring the coordinates of the positioning base station, and marking as (x s,ys);
Placing the shell on the top of the locomotive, keeping the shell and the locomotive horizontal, and setting the initial direction of the horizontal gyroscope to be parallel and in the same direction with the x-axis;
Measuring a deflection angle theta of the shell through a horizontal gyroscope;
measuring the distance D from the shell to the roadway wall through an ultrasonic module;
Acquiring, by the processor, a second high-precision clock timestamp t a attached to the second antenna at time t 1;
acquiring, by the processor, a third high-precision clock timestamp t b attached to a third antenna at time t 2;
Determining a relative time difference based on a time stamp t a of the second antenna and a time stamp t b of the third antenna, and solving the problem that clocks used by the second antenna and the third antenna are not synchronous;
the second antenna receives the signal of the positioning base station and records a second high-precision clock time stamp TA;
A third antenna receives signals of a positioning base station and records a third high-precision clock timestamp TB;
measuring a distance L between the second antenna and the third antenna;
calculating the distance difference d between the positioning base station and the second antenna and the third antenna;
And calculating the position of the shell based on the time stamp t a of the second antenna, the time stamp t b of the third antenna, the time stamp TA, the time stamp TB, the distance L between the second antenna and the third antenna and the distance difference d, wherein the position of the shell is the position of the locomotive.
Optionally, the position of the computing housing specifically adopts the following formula:
Wherein:
a=(Lsinθ)2-d2,
b=L2Dsinθsin2θ,
c=(LDsinθcosθ)2-(dDsinθ)2+(d4-d2L2)/4-H2d2,
Sgn () is a sign function, D is a distance from a direction perpendicular to the casing to the roadway wall, θ is a deflection angle of the casing, L is a distance between the second antenna and the third antenna, D is a distance difference between the positioning base station and the second antenna and the third antenna, H is a height difference between the positioning base station and the locomotive on the track, and x s and y s are coordinates of the positioning base station.
Optionally, the method further comprises:
The linear distance Dsin theta from the shell to the roadway wall determines the number of the track where the locomotive is located.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
According to the actual characteristics of the multi-track straight roadway, the invention provides a vehicle positioning method based on UWB and ultra-wideband fusion. The module related to the invention has simple operation and convenient installation. Because the base station and the positioning module are in simplex communication and are used on a plurality of locomotives, signal interference among different modules can not occur, and therefore the positioning device can be used for positioning a plurality of locomotives. The invention further improves the roadway management efficiency, is suitable for positioning various middle and small straight roadway rail cars, and has important significance for intelligent development of the rail cars.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a positioning device for a multi-track straight roadway vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a method for positioning a multi-track direct roadway vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of the deflection of the housing according to an embodiment of the present invention.
Symbol description:
a second antenna-1, a third antenna-2, and an ultrasonic module 3.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a positioning device and a positioning method suitable for a multi-track straight roadway vehicle, so that positioning accuracy is improved, and positioning of a plurality of locomotives can be realized.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-3, the device of the invention comprises a positioning base station, a positioning tag, an ultrasonic module 3, a horizontal gyroscope, a shell and a processor;
the positioning base station is arranged at the top of one side of the roadway and specifically comprises a first antenna, a first antenna receiving and transmitting module and a first high-precision clock, wherein the positioning base station is used for periodically and outwardly transmitting signals.
The positioning tag is used for receiving signals sent by the positioning base station and comprises a second antenna 1, a third antenna 2, a second antenna 1 transceiver module, a third antenna 2 transceiver module, a second high-precision clock and a third high-precision clock, wherein the second antenna 1 and the third antenna 2 are respectively arranged at two ends of the shell.
The ultrasonic module 3 is used for measuring the distance from the locomotive, namely the shell to the side wall of the roadway, and the ultrasonic module 3 comprises an ultrasonic transmitter and an ultrasonic receiver;
The horizontal gyroscope is used for measuring the horizontal deflection angle of the shell;
a positioning tag and an ultrasound module 3 are arranged on the housing.
And the processor, namely an ARM embedded platform, is connected with the positioning tag, the ultrasonic module 3, the positioning base station and the horizontal gyroscope and is used for calculating coordinates of the vehicle.
Based on the device in the invention, the invention further provides a positioning method suitable for the multi-track straight roadway vehicle, which is used for calculating the position coordinates of the locomotive, and comprises the following steps:
S1, installing a positioning base station on the top of one side of a roadway, and measuring the coordinates (x s,ys) of the positioning base station according to the coordinate system shown in FIG 2, wherein the height difference between the base station and a locomotive on a track is H. The positioning base station periodically broadcasts signals outwards, and each time the signals are transmitted, different marks are carried.
S2, placing the shell on the top of the locomotive, enabling the arrow to be parallel to the locomotive body, and setting the initial direction of the horizontal gyroscope to be parallel to and in the same direction as the x-axis. As shown in fig. 3, the horizontal gyroscope records the shell deflection angle θ, limited by the minimum turning radius of the railcars in the roadway, and is easily known as θ e (0, pi).
And S3, measuring the distance from the direction perpendicular to the shell of the module to the roadway wall by the distance measuring principle of the ultrasonic module 3. For ease of calculation, let it be D. Further, the number of the track where the locomotive is currently located can be determined by comparing Dsin θ with a threshold value, as shown in fig. 2, the track number ①, the track number ② and the track number ③ are sequentially arranged from left to right, and the three tracks respectively correspond to three different thresholds, for example, when the first threshold value is 3 meters, and when the calculated Dsin θ is within the first threshold value, the locomotive at the moment is determined to be in the track number ①.
S4, in the module of the invention, the clock crystal oscillators connected with the two antennas are relatively independent, so that the clock synchronization is needed by using the relative clocks. The ARM is communicated with the second antenna at the time t 1 and records the time stamp t a of the second antenna at the time, then the ARM is communicated with the third antenna at the time t 2 and records the time stamp t b of the third antenna at the time, and the relative time difference can be obtainedWhere T 1 represents the clock cycle of the antenna and T 2 represents the clock cycle of the ARM.
S5, the second antenna 1 receives the positioning base station signals and records the time stamp TA, and the third antenna 2 receives the positioning base station signals with the same marks and records the time stamp TB. The invention uses the coordinates of the middle points of two antennas as the position coordinates of the positioning shell, and uses the known information to perform algebraic operation to obtain the shell position coordinates (x, y). And sending the positioning result to the main control terminal by using the 5G mobile communication network module.
Further, the algebraic operation calculation process in the invention is that the distance difference between the positioning base station and the second antenna and the third antenna can be known by S4 and S5Where d a is the distance from the positioning base station to the second antenna, d b is the distance from the positioning base station to the third antenna, and v c is the speed of light. Thus, a single curve equation can be obtained:
where L is the distance from the second antenna to the third antenna. As shown in fig. 3, x=x s -Dsin θ of the case is substituted into a single curve equation to obtain y.
Further, the housing position coordinates are:
Wherein:
a=(Lsinθ)2-d2,
b=L2Dsinθsin2θ,
c=(LDsinθcosθ)2-(dDsinθ)2+(d4-d2L2)/4-H2d2,
Sgn () is a sign function, D is a distance from a direction perpendicular to the casing to the roadway wall, θ is a deflection angle of the casing, L is a distance between the second antenna 1 and the third antenna 2, D is a distance difference between the positioning base station and the second antenna 1 and the third antenna 2, H is a height difference between the positioning base station and the locomotive on the track, and x s and y s are coordinates of the positioning base station.
The method comprises the steps of firstly obtaining the linear distance from a locomotive to a roadway wall by utilizing an ultrasonic module and a horizontal gyroscope, obtaining the distance difference by utilizing a pair of ultra-wideband UWB positioning labels, obtaining the position coordinates of the locomotive by algebraically solving a single curve equation, and transmitting the positioning result to a main control terminal by utilizing a 5G mobile communication network. The invention has simple structure and easy operation. The device can be used for realizing the positioning of a plurality of locomotives.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to facilitate an understanding of the principles and concepts of the invention and are to be varied in scope and detail by persons of ordinary skill in the art based on the teachings herein. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A positioning device suitable for a multi-track straight roadway vehicle, the positioning device comprising:
the positioning base station is arranged at the top of one side of the roadway and is used for periodically sending out signals;
The positioning tag is used for receiving signals sent by the positioning base station and comprises a second antenna, a third antenna, a second antenna receiving and transmitting module, a third antenna receiving and transmitting module, a second high-precision clock and a third high-precision clock;
The ultrasonic module is used for measuring the distance from the locomotive to the side wall of the roadway;
a horizontal gyroscope for measuring a horizontal deflection angle;
the processor is connected with the positioning tag, the ultrasonic module, the positioning base station and the horizontal gyroscope and is used for calculating coordinates of the vehicle;
The positioning tag and the ultrasonic module are arranged on the shell;
the position coordinates of the housing are expressed as:
Wherein:
a=(Lsinθ)2-d2,
b=L2Dsinθsin2θ,
c=(LDsinθcosθ)2-(dDsinθ)2+(d4-d2L2)/4-H2d2,
Sgn () is a sign function, D is a distance from a direction perpendicular to the casing to the roadway wall, θ is a deflection angle of the casing, L is a distance between the second antenna and the third antenna, D is a distance difference between the positioning base station and the second antenna and the third antenna, H is a height difference between the positioning base station and the locomotive on the track, and x s and y s are coordinates of the positioning base station.
2. The positioning device for a multi-track straight roadway vehicle of claim 1, wherein the positioning base station comprises:
the antenna comprises a first antenna, a first antenna receiving and transmitting module and a first high-precision clock.
3. The positioning device for a multi-track roadway vehicle of claim 1, wherein the positioning tag comprises a second antenna, a third antenna, a second antenna transceiver module, a third antenna transceiver module, a second high-precision clock and a third high-precision clock;
the second antenna and the third antenna are respectively arranged at two ends of the shell.
4. The positioning device for a multi-track straight roadway vehicle of claim 1, wherein the ultrasonic module comprises an ultrasonic transmitter and an ultrasonic receiver.
5. The positioning method suitable for the multi-track straight roadway vehicle is characterized by comprising the following steps of:
Measuring the coordinates of the positioning base station, and marking as (x s,ys);
Placing the shell on the top of the locomotive, keeping the shell and the locomotive horizontal, and setting the initial direction of the horizontal gyroscope to be parallel and in the same direction with the x-axis;
Measuring a deflection angle theta of the shell through a horizontal gyroscope;
measuring the distance D from the shell to the roadway wall through an ultrasonic module;
Acquiring, by the processor, a second high-precision clock timestamp t a attached to the second antenna at time t 1;
Acquiring a third high-precision clock time stamp t b attached to a third antenna at the time t 2 through a processor;
Determining a relative time difference based on a time stamp t a of the second antenna and a time stamp t b of the third antenna, and solving the problem that clocks used by the second antenna and the third antenna are not synchronous;
the second antenna receives the signal of the positioning base station and records the time stamp TA of the second high-precision clock;
the third antenna receives a signal of the positioning base station and records a timestamp TB of a third high-precision clock;
measuring a distance L between the second antenna and the third antenna;
calculating the distance difference d between the positioning base station and the second antenna and the third antenna;
Calculating the position of a shell based on the time stamp t a of the second antenna, the time stamp t b of the third antenna, the time stamp TA, the time stamp TB, the distance L between the second antenna and the third antenna and the distance difference d, wherein the position of the shell is the position of a locomotive;
the position of the computing shell specifically adopts the following formula:
Wherein:
a=(Lsinθ)2-d2,
b=L2Dsinθsin2θ,
c=(LDsinθcosθ)2-(dDsinθ)2+(d4-d2L2)/4-H2d2,
Sgn () is a sign function, D is a distance from a direction perpendicular to the casing to the roadway wall, θ is a deflection angle of the casing, L is a distance between the second antenna and the third antenna, D is a distance difference between the positioning base station and the second antenna and the third antenna, H is a height difference between the positioning base station and the locomotive on the track, and x s and y s are coordinates of the positioning base station.
6. The multi-track straight roadway vehicle positioning method of claim 5, further comprising:
The linear distance Dsin theta from the shell to the roadway wall determines the number of the track where the locomotive is located.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110148308A (en) * | 2019-05-21 | 2019-08-20 | 北京百度网讯科技有限公司 | Vehicle positioning system in parking garage |
| CN111627296A (en) * | 2020-06-12 | 2020-09-04 | 北交智慧科技有限公司 | Rail vehicle driver training auxiliary system |
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| US7629899B2 (en) * | 1997-10-22 | 2009-12-08 | Intelligent Technologies International, Inc. | Vehicular communication arrangement and method |
| WO2007145450A1 (en) * | 2006-06-12 | 2007-12-21 | Dong Wook Seo | Mobile communication terminal capable of pinpointing a tag's location and information providing system and service method utilizing both of them |
| TWI503560B (en) * | 2013-12-25 | 2015-10-11 | 財團法人工業技術研究院 | Vehicle position calibration method and apparatus |
| CN104612682B (en) * | 2014-12-09 | 2017-11-24 | 中国矿业大学 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110148308A (en) * | 2019-05-21 | 2019-08-20 | 北京百度网讯科技有限公司 | Vehicle positioning system in parking garage |
| CN111627296A (en) * | 2020-06-12 | 2020-09-04 | 北交智慧科技有限公司 | Rail vehicle driver training auxiliary system |
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