CN109613584A - The positioning and orienting method of unmanned truck based on UWB - Google Patents
The positioning and orienting method of unmanned truck based on UWB Download PDFInfo
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- CN109613584A CN109613584A CN201811608020.1A CN201811608020A CN109613584A CN 109613584 A CN109613584 A CN 109613584A CN 201811608020 A CN201811608020 A CN 201811608020A CN 109613584 A CN109613584 A CN 109613584A
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- uwb
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The positioning and orienting method of the present invention relates to a kind of unmanned truck based on UWB, it is characterized in that: installation both may be used as base station, it may be used as the UWB equipment of label again, utilize the double antenna positioning and directing of vehicle GNSS satellite signal, positioning and directional bias based on UWB are corrected, realizes the accurate positioning orientation that unmanned collection is stuck under gantry crane.The utility model has the advantages that the present invention is by disposing UWB equipment on harbour gantry crane road surface, gantry crane and unmanned truck, it solves the problems, such as to connect the positioning and directing in case operating process when unmanned collection is stuck under gantry crane, satellite-signal is blocked, on the positioning accuracy of 10cm or so is longitudinal in the location error allowed band of container, vehicle travels within the scope of lane when ensure that operation in transverse direction.
Description
Technical field
The invention belongs to technical field of navigation and positioning more particularly to a kind of positioning and directing sides of the unmanned truck based on UWB
Method.
Background technique
UWB (Ultra Wideban) is a kind of no-load communication techniques, utilizes the narrow arteries and veins of the non-sinusoidal waveform of nanosecond to Microsecond grade
Punching transmission data.UWB early stage is mainly used in short distance high speed data transfer, and recent domestic starts with its subnanosecond grade
Burst pulse positions to do short distance precision indoor.In order to realize that the purpose positioned in real time, UWB positioning device are usually fixed by position
Base station and load on the mobile apparatus label two parts composition.The single UWB equipment that part manufacturer provides on the market at present
Both can be used as label can also be used as base station use.
When being positioned using UWB, it is necessary first to it is outer indoors to arrange base station, then positioning mark is loaded in positioning target
Label.When doing absolute fix, need to know the position of each base station；When doing relative positioning, need to know the relative angle between base station
Degree and displacement.The process of positioning is the label transmitting ultra-broadband signal for positioning target, base station received signal and by cable or
WIFI network is transferred on switch-to-server, and TDOA (Time Difference Of is used in server software
Arrival) or AOA (Angle of Arrival) location algorithm carries out position resolving, real-time display label position.
AOA algorithm is capable of measuring the angle between unknown point and reference point and calculates the position of target.Ultra-wideband positioning system
Reach angle from the signal that positioning target at first reaches receiver by multiple base station measurements, to estimate positioning target
Position.If the barrier in region is fewer, it can use AOA algorithm and obtain higher positioning accuracy.But it is if fixed
Barrier in the region of position is relatively more, then will consider the influence of multipath effect.Due to multipath effect and receiver antenna
Limitation, generally requires more sensor and works at the same time, and will increase systematic difference cost in this way, and utilizes TOA (Time of
Arrival)/TDOA alignment by union algorithm, it is possible to reduce the number of sensors worked at the same time, and obtain the three of target to be positioned
Tie up coordinate.
UWB location technology although positioning accuracy with higher, but it is chiefly used in indoor positioning at present；Meanwhile the base station UWB needs
It is placed on fixed position, since harbour gantry crane is moveable, so wanting to realize opposite between gantry crane and unmanned truck
Positioning, needs all to arrange at least four base stations in each gantry crane, which adds costs, while wasting the work of UWB
Use range；In addition, for part industrial application scene, especially automatic Pilot field, in addition to the position to mobile target have compared with
Other than high required precision, its course is also required, and single UWB positioning label cannot achieve accurate pointing.In addition, if
Using traditional GNSS/INS integrated navigation and location, GNSS is blocked no signal under the gantry crane of harbour, and INS is without GNSS's
Amendment can have cumulative errors.
In order to adapt to the quick and precisely positioning and directing of unmanned container truck under the scene of harbour, it would be highly desirable to develop a kind of cost compared with
It is low and can satisfy unmanned collection be stuck in laterally, on longitudinal direction positioning accuracy request positioning and orienting method.
Summary of the invention
It is an object of the invention to overcome the shortcomings of above-mentioned technology, and provide a kind of positioning of unmanned truck based on UWB
Orientation method solves the problems, such as to connect the positioning and directing in case operating process when unmanned collection is stuck under gantry crane, satellite-signal is blocked.
The present invention to achieve the above object, using following technical scheme: a kind of positioning and directing of the unmanned truck based on UWB
Method it is characterized in that: installation not only may be used as base station, but also may be used as the UWB equipment of label, utilize vehicle GNSS satellite signal
Double antenna positioning and directing, correct positioning and directional bias based on UWB, it is fixed to complete the accurate positioning that unmanned collection is stuck under gantry crane
To, the specific steps are as follows:
Step 1, deployment UWB equipment: a UWB equipment is disposed at a distance on gantry crane road surface, while at every
A UWB equipment is disposed in gantry crane, guarantees that the position of deployment facility in every gantry crane is consistent, deviation is in gantry crane operation
Within allowable range of error；
Step 2 installs two UWB equipments on unmanned truck: the UWB equipment is mounted on unmanned truck as label
Headstock, the tailstock each one；
Step 3, gantry crane positioning: before vehicle drives into gantry crane progress operation, all gantry cranes, which have all moved, to be finished, in quiet
Only state.The UWB equipment on gantry crane road surface will be deployed in as base station, the UWB equipment in gantry crane completes gantry crane as label
It is accurately positioned；
Before step 4, unmanned truck drive under gantry crane, positioning and directional bias based on UWB are calculated, specifically,
A. satellite-signal is good, realizes vehicle GNSS direction and location by the double antenna on unmanned truck；
B. using the UWB equipment disposed in gantry crane as base station, two UWB on the mounted unmanned truck of step 2 are set
It is standby to be used as label, complete the unmanned truck positioning orientation based on UWB；
C. two UWB equipments on unmanned truck and GNSS receiver export respective positioning in the form of longitude and latitude respectively
Information obtains plane coordinates by utm projection, and the plane coordinates obtained using GNSS is calculated UWB coordinate and GNSS is sat as standard value
Target phasor difference is obtained including the coordinate components deviation along due east direction and the coordinate components deviation along real north based on UWB
Deviations；
D. the method for seeking deflection according to the longitude and latitude of known two o'clock is mark with the deflection that GNSS receiver resolves
The course angle that the UWB deflection resolved and GNSS receiver resolve is made the difference, obtains the directional bias based on UWB by quasi- value.
When step 5, unmanned truck are driven under gantry crane, the vehicle location orientation based on UWB is carried out, and obtain according to step 4
Positioning and directional bias, amendment positioning and directing as a result, specifically,
A. when vehicle drives under gantry crane, since GNSS satellite signal is blocked, by two vehicle-mounted UWB equipment conducts
The UWB equipment disposed on label and gantry crane obtains the location information (longitude and latitude form) of unmanned truck, according to known as base station
The deflection of the unmanned truck of the calculation of longitude & latitude of two o'clock obtains directed information.
B. the positioning and directional bias obtained using step 4, positioning and directing of the amendment based on UWB is as a result, complete to be based on UWB
Unmanned truck accurate positioning orientation.
The deployment density of UWB equipment at a distance should meet opposite bank in gantry crane moving process on the gantry crane road surface
The Centimeter Level of bridge, one-dimensional positioning requirement.
The baseline length that two UWB equipments are installed on the unmanned truck is greater than 2 meters.
Two UWB equipments and GNSS receiver on the unmanned truck are all connected to the computing unit of unmanned truck to phase
Information is closed to be calculated.
The utility model has the advantages that the present invention is solved by disposing UWB equipment on harbour gantry crane road surface, gantry crane and unmanned truck
The positioning and directing problem in case operating process, the positioning of 10cm or so are connect when unmanned collection is stuck under gantry crane, satellite-signal is blocked
On precision is longitudinal in the location error allowed band of container, vehicle is in lane range expert when ensure that operation in transverse direction
It sails.
Detailed description of the invention
Fig. 1 is the flow chart of the unmanned truck positioning orientation of the present invention；
Fig. 2 is UWB equipment deployment scenario schematic diagram.
In figure: 1, the UWB equipment on gantry crane road surface at a certain distance disposed, 2, the UWB disposed in each gantry crane sets
It is standby, 3, vehicle upper administration two UWB equipments, headstock, the tailstock each one.
Specific embodiment
Below with reference to the preferred embodiment specific embodiment that the present invention will be described in detail.
It is detailed in attached drawing 1, a kind of positioning and orienting method of unmanned truck based on UWB is present embodiments provided, on gantry crane road
A UWB equipment is disposed on face at a certain distance, a UWB equipment is disposed in every gantry crane.UWB equipment used both can be with
As base station, it is also used as label.When gantry crane is mobile, by the UWB equipment in gantry crane as label, gantry crane front and rear sides
UWB equipment on road surface determines the position of gantry crane as base station；After gantry crane is mobile, the UWB equipment that is fixed in gantry crane
Base station be can serve as to position unmanned truck.Before unmanned truck drives into gantry crane, satellite-signal is good, can pass through GNSS
Double antenna positioning and directing, additionally it is possible to positioning and directing be carried out as label by the UWB equipment on unmanned truck, with GNSS double antenna
The result that positioning and directing obtains is standard value, calculates positioning and directional bias based on UWB；Unmanned truck drive into gantry crane with
Afterwards, satellite-signal is blocked, and can be oriented by the vehicle location based on UWB, while with the positioning and directional bias calculated
To correct the positioning and directing result based on UWB.Vehicle in Fig. 1 refers to unmanned truck.
UWB equipment used in the present invention not only may be used as base station, but also may be used as label.
UWB equipment is specifically disposed such as Fig. 2, step 1, deployment UWB equipment.One is disposed at a certain distance on gantry crane road surface
A UWB 1, deployment density depend on the effective range and precision of used UWB equipment, usually, it is ensured that gantry crane is mobile
In the process, to the Centimeter Level of gantry crane, one-dimensional positioning.Meanwhile a UWB 2 is disposed in every gantry crane, UWB equipment is in gantry crane
The position of upper installation represents the point of each gantry crane positioning, therefore the position of deployment facility should be as far as possible in every gantry crane
Unanimously, guarantee deviation within the allowable range of error of gantry crane operation with benefit.
Step 2 installs two UWB equipments as label on unmanned truck.Similar to GNSS double antenna positioning principle, remove
The positioning that realize unmanned truck, will also realize the orientation of unmanned truck.Usual GNSS double antenna is oriented in front of being on vehicle
After install, UWB equipment can copy this mounting means here, respectively install one in headstock, the tailstock.The baseline of two UWB equipments
Length is greater than 2 meters.
Step 3 determines gantry crane position: the UWB equipment position on gantry crane road surface be it is fixed, position can disposed
When UWB equipment, the high-precisions mapping equipment precise measurement such as total station is utilized.Before vehicle drives into gantry crane progress operation,
All gantry cranes, which have moved, to be finished, and is remained static, and position fixation will not change again.At this point, being deployed on gantry crane road surface
For UWB equipment as base station, the UWB equipment in gantry crane completes the accurate positioning of gantry crane as label.These are deployed in gantry crane
Base station is also used as after UWB to position unmanned truck.
Step 4, before unmanned truck drives under gantry crane, satellite-signal is good, can by the GNSS double antenna on vehicle
To realize the direction and location of unmanned truck；Simultaneously as UWB equipment has certain sphere of action as base station, and in gantry crane
Also UWB equipment is deployed as base station, so two UWB on unmanned truck are set within the scope of one before driving into gantry crane
The orientation of the vehicle location based on UWB may be implemented for as label.
Two UWB equipments and GNSS receiver on unmanned truck export respective positioning letter in the form of longitude and latitude respectively
Breath, obtains plane coordinates by utm projection, and the plane coordinates obtained using GNSS calculates UWB coordinate and GNSS coordinate as standard value
Phasor difference obtain including the coordinate components deviation along due east direction and the coordinate components deviation along real north based on UWB's
Deviations；
Deflection is sought according to the longitude and latitude of known two o'clock, the deflection resolved using GNSS receiver, will as standard value
The course angle that the deflection and GNSS receiver that UWB is resolved resolve makes the difference, and obtains the directional bias based on UWB.
Two UWB equipments on unmanned truck are all connected to the computing unit of unmanned truck to related letter to GNSS receiver
Breath is calculated；Positioning and directing result based on UWB and the orientation result based on GNSS double antenna are compared, UWB is calculated
Positioning and directional bias, it can be understood as based on UWB equipment positioning and directing calibration.
When step 5, unmanned truck are driven under gantry crane, since GNSS satellite signal is blocked, it can use work as foreland at this time
As base station, two UWB equipments on vehicle realize the reality of unmanned truck as label for UWB equipment on bridge and neighbouring gantry crane
When positioning and directing.The positioning and directional bias obtained with step 4, positioning and directing of the amendment based on UWB is as a result, complete to be based on UWB
Unmanned truck accurate positioning leading beacon.Specific orientation calculating process is as follows:
In actual gantry crane operation and position fixing process, the positioning of UWB equipment output mobile object in the form of longitude and latitude
Information deploys two UWB labels, then the latitude and longitude coordinates of the two available labels here on the direction of travel of vehicle,
The longitude and latitude of known two o'clock can find out the angle of this two o'clock line and real north, that is, deflection.Assuming that the warp of two o'clock
Latitude is respectively (lon1, lat1), (lon2, lat2).
When two o'clock is on Same Latitude, i.e. when lat1-lat2=0, if lon1-lon2 > 0, Az=270；Conversely, Az
=90.
When two o'clock is not on Same Latitude,
If lat1 > lat2, Az=Az+180；Conversely, Az is remained unchanged.Az is to be gone out according to two o'clock calculation of longitude & latitude
The course come obtains the purpose of UWB orientation with this.
The above-mentioned detailed description carried out referring to positioning and orienting method of the embodiment to a kind of unmanned truck based on UWB,
It is illustrative without being restrictive, several embodiments can be enumerated according to limited range, therefore do not departing from this hair
Change and modification under bright general plotting should belong within protection scope of the present invention.
Claims (4)
1. a kind of positioning and orienting method of the unmanned truck based on UWB, it is characterized in that: installation not only may be used as base station, but also can be with
UWB equipment as label is corrected the positioning based on UWB and is determined using the double antenna positioning and directing of vehicle GNSS satellite signal
To deviation, the accurate positioning orientation that unmanned collection is stuck under gantry crane is completed, the specific steps are as follows:
Step 1, deployment UWB equipment: a UWB equipment is disposed at a distance on gantry crane road surface, while in every gantry crane
One UWB equipment of upper deployment guarantees that the position of deployment facility in every gantry crane is consistent, error of the deviation in gantry crane operation
Within allowed band；
Step 2 installs two UWB equipments on unmanned truck: the UWB equipment is mounted on the vehicle of unmanned truck as label
Head, the tailstock each one；
Step 3, gantry crane positioning: before vehicle drives into gantry crane progress operation, all gantry cranes, which have all moved, to be finished, and static shape is in
State.The UWB equipment on gantry crane road surface will be deployed in as base station, the UWB equipment in gantry crane completes the accurate of gantry crane as label
Positioning；
Before step 4, unmanned truck drive under gantry crane, positioning and directional bias based on UWB are calculated, specifically,
A. satellite-signal is good, realizes vehicle GNSS direction and location by the double antenna on unmanned truck；
B. using the UWB equipment disposed in gantry crane as base station, two UWB equipments on the mounted unmanned truck of step 2 are made
For label, the unmanned truck positioning orientation based on UWB is completed；
C. two UWB equipments on unmanned truck and GNSS receiver export respective positioning letter in the form of longitude and latitude respectively
Breath, obtains plane coordinates by utm projection, and the plane coordinates obtained using GNSS calculates UWB coordinate and GNSS coordinate as standard value
Phasor difference obtain including the coordinate components deviation along due east direction and the coordinate components deviation along real north based on UWB's
Deviations；
D. the method for seeking deflection according to the longitude and latitude of known two o'clock, the deflection resolved using GNSS receiver is standard
The course angle that the UWB deflection resolved and GNSS receiver resolve is made the difference, obtains the directional bias based on UWB by value；
When step 5, unmanned truck are driven under gantry crane, the vehicle location orientation based on UWB is carried out, and determine according to what step 4 obtained
Position and directional bias, amendment positioning and directing as a result, specifically,
A. when vehicle drives under gantry crane, since GNSS satellite signal is blocked, by two vehicle-mounted UWB equipments as label
With the UWB equipment disposed in gantry crane as base station, the location information (longitude and latitude form) of unmanned truck is obtained, according to known two o'clock
The unmanned truck of calculation of longitude & latitude deflection, obtain directed information；
B. the positioning and directional bias obtained using step 4, positioning and directing of the amendment based on UWB is as a result, complete the nothing based on UWB
The accurate positioning of people's truck orients.
2. the positioning and orienting method of the unmanned truck according to claim 1 based on UWB, it is characterized in that: the gantry crane road
The deployment density of UWB equipment at a distance should meet in gantry crane moving process to the Centimeter Level of gantry crane, one-dimensional fixed on face
Position requires.
3. the positioning and orienting method of the unmanned truck according to claim 1 based on UWB, it is characterized in that: the unmanned collection
The baseline length that two UWB equipments are installed on card is greater than 2 meters.
4. the positioning and orienting method of the unmanned truck according to claim 1 based on UWB, it is characterized in that: the unmanned collection
The computing unit that two UWB equipments and GNSS receiver on card are all connected to unmanned truck calculates relevant information.
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| CN201811608020.1A CN109613584B (en) | 2018-12-27 | 2018-12-27 | UWB-based positioning and orientation method for unmanned card concentrator |
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| CN201811608020.1A CN109613584B (en) | 2018-12-27 | 2018-12-27 | UWB-based positioning and orientation method for unmanned card concentrator |
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| CN110809284A (en) * | 2019-09-25 | 2020-02-18 | 福建新大陆软件工程有限公司 | Positioning method, system, device and readable storage medium based on MR data |
| CN111071931A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司 | Method for accurately loading container on truck-mounted vehicle |
| CN111622145A (en) * | 2020-07-28 | 2020-09-04 | 北京主线科技有限公司 | Unmanned truck-collecting positioning method and system based on reflective spikes |
| CN112415548A (en) * | 2020-11-09 | 2021-02-26 | 北京斯年智驾科技有限公司 | Unmanned card-collecting positioning method, device and system, electronic device and storage medium |
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| CN110809284A (en) * | 2019-09-25 | 2020-02-18 | 福建新大陆软件工程有限公司 | Positioning method, system, device and readable storage medium based on MR data |
| CN110809284B (en) * | 2019-09-25 | 2022-09-16 | 福建新大陆软件工程有限公司 | Positioning method, system, device and readable storage medium based on MR data |
| CN111071931A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司 | Method for accurately loading container on truck-mounted vehicle |
| CN111622145A (en) * | 2020-07-28 | 2020-09-04 | 北京主线科技有限公司 | Unmanned truck-collecting positioning method and system based on reflective spikes |
| CN112415548A (en) * | 2020-11-09 | 2021-02-26 | 北京斯年智驾科技有限公司 | Unmanned card-collecting positioning method, device and system, electronic device and storage medium |
| CN112415548B (en) * | 2020-11-09 | 2023-09-29 | 北京斯年智驾科技有限公司 | Positioning method, device and system of unmanned integrated card, electronic device and storage medium |
| CN113156479A (en) * | 2021-03-23 | 2021-07-23 | 同济大学 | Combined positioning method for outdoor country road scene |
| CN113469045A (en) * | 2021-06-30 | 2021-10-01 | 上海西井信息科技有限公司 | Unmanned card-collecting visual positioning method and system, electronic equipment and storage medium |
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