CN110806207A - Railway tunnel accurate positioning device and positioning method - Google Patents
Railway tunnel accurate positioning device and positioning method Download PDFInfo
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- CN110806207A CN110806207A CN201911059288.9A CN201911059288A CN110806207A CN 110806207 A CN110806207 A CN 110806207A CN 201911059288 A CN201911059288 A CN 201911059288A CN 110806207 A CN110806207 A CN 110806207A
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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
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention provides a railway tunnel accurate positioning device and a positioning method, the device comprises a tunnel positioning server TLBS, the tunnel positioning server TLBS is connected to a plurality of positioning base station controllers TBC through Ethernet, each positioning base station controller TBC is connected with a plurality of positioning base stations UBS, the plurality of positioning base stations UBS under the control of the positioning base station controller TBC and a positioning terminal UBE are interactively positioned, wherein the positioning base stations UBS are remotely managed, positioning data of the positioning base station controllers TBC and the positioning terminal UBE are received, and data processing, accuracy optimization, data storage and management are carried out; the positioning base station UBS realizes the accurate synchronization between the base stations, realizes the data communication with the base station UBS through optical fibers or network cables, and outputs and displays the positioning information of the UBE terminal; and the UWB module responds to the ground positioning base station to complete the ranging and data communication work. The invention can meet the continuous and accurate positioning requirement of ITCS in the areas such as tunnels, stations and the like under the Tibet line plateau environment.
Description
Technical Field
The invention relates to the field of tunnel positioning systems, in particular to a railway tunnel accurate positioning device and a positioning method.
Background
The Beidou satellite navigation system is a global satellite navigation system which is independently implemented and independently operated in China, has high safety and accuracy, and is popularized to realize important work of the Beidou satellite positioning in railway application and incorporated into a railway head office to realize intelligent railway.
In railway tunnels, stations and other shielded and interfered areas, trains cannot normally receive satellite signals to realize train positioning, so that the development of Beidou satellite signal coverage and train accurate positioning in the tunnels is a problem to be solved urgently in Beidou satellite railway application and is also important research content of a new generation train ITCS control system of the Qinghai-Tibet railway.
The traditional positioning technology (such as WiFi positioning and Bluetooth positioning) is to judge the position of an object according to the strength of a signal, the strength of the signal is greatly influenced by the outside, so that the error between the positioned position of the object and the actual position is large, a UWB (ultra wideband) high-precision indoor positioning system is an ultra wideband positioning technology, a wideband pulse communication technology is adopted, signal transmission between vehicle-mounted equipment and a base station is shown in figure 1, nanosecond-level non-sine wave narrow pulses are used for transmitting data, the occupied frequency spectrum range is wide, the high-precision ultra wideband positioning system has high anti-interference capability, and the high-precision ultra wideband positioning system is insensitive to channel fading, low in power spectral density of transmitted signals, capable of providing centimeter-level positioning precision and the like.
With the rapid development of the ICT technology of the high-speed railway, the next generation of high-speed train control system technology and equipment based on the satellite positioning technology are rapidly developing and testing, the accurate positioning system of the train in the tunnel is still in the research stage at home and abroad, no application case exists, the accurate positioning system of the tunnel train developed by the research project in this department has certain innovativeness at home and abroad, and has wide application prospects in the railway and rail transit industries.
① corrects physical layer, adds AFT high speed moving self-adapting algorithm and improved synchronous algorithm to adapt Doppler frequency measurement and phase tracking process, ② improves synchronization and tracking precision of extremely narrow pulse in UWB base station circuit to improve positioning error caused by time delay, ③ adopts high speed processing circuit and device to output positioning data frequency not less than 50Hz per second to ensure positioning precision of high speed object.
Disclosure of Invention
The invention provides a railway tunnel accurate positioning device and a positioning method for solving the problems in the prior art, and meets the continuous accurate positioning requirement of ITCS in the areas such as tunnels, stations and the like under the Tibet line plateau environment.
The invention provides a railway tunnel accurate positioning device, which comprises a tunnel positioning server TLBS, wherein the tunnel positioning server TLBS is connected to a plurality of positioning base station controllers TBC through Ethernet, each positioning base station controller TBC is connected with a plurality of positioning base stations UBS, and the plurality of positioning base stations UBS and a positioning terminal UBE under the control of the positioning base station controller TBC are interactively positioned, wherein the positioning base stations UBS are remotely managed, positioning data of the positioning base station controllers TBC and the positioning terminal UBE are received, and data processing, accuracy optimization, data storage and management are carried out; the positioning base station UBS realizes the accurate synchronization between the base stations, realizes the data communication with the base station UBS through optical fibers or network cables, and outputs and displays the positioning information of the UBE terminal; the UWB module responds to the ground positioning base station to complete the ranging and data communication work
Further improved, the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundancy hot backup.
The positioning base station UBS is further improved and comprises a base station system and a V-shaped shield arranged on the surface of the base station system, a triangular prism structure is formed between the base station system and the V-shaped shield, a base station antenna is arranged on each inner surface of the V-shaped shield, the double antennas are arranged back to back, and each base station antenna is connected with a positioning module.
The positioning base station UBS is further improved to comprise a data communication and signal processing module, wherein the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a Beidou RTK positioning module, a communication module, a column control interface and a display terminal, and accurate positioning data is mainly provided outdoors by the Beidou RTK; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected. The three positioning data need to be subjected to optimization and collaborative algorithms such as data screening and comparison by the positioning data signal processing module, and finally accurate and reliable positioning data are output.
The invention also provides a method for accurately positioning the railway tunnel, which comprises the following steps:
1) the electric wave flight time Tpr can be calculated through the transmission-reception period Tround and the response period Treply measured by the base station and the terminal:
tx transmit timestamp; rx receive timestamp;
and (3) Tround: local transmit-receive round trip time;
treply: local receive-forward time delay;
tpr: a time of flight in space;
2) calculating the distance Dt from the train to a certain fixed kilometer post according to the flight time of the electric waves, and determining the position DK of the train:
when Dt (t +1) > Dt (t), the train kilometer post: DK DKn + Dt;
when Dt (t +1) < Dt (t), the train kilometer scale: DK is DKn-Dt.
The invention has the beneficial effects that:
1. the continuous accurate positioning requirement of the ITCS in the areas such as tunnels, stations and the like under the Qinghai-Tibet line plateau environment is met.
2. Under the condition of high-speed train movement, the positioning precision of the train tunnel and the station reaches 1 meter.
3. The whole machine hot standby ring network of the positioning base station and the whole machine hot standby of the vehicle-mounted equipment meet the requirements of safety and reliability of the ITCS train control.
4. And positioning the special directional narrow beam antenna for the base station tunnel, wherein the coverage distance is more than 300 m.
5. The vehicle-mounted equipment is compatible with the appearance, the interface and the communication protocol of the existing satellite positioning module through the integrated design of the Beidou receiving module and the UWB tunnel positioning module, and the consistency of an ITCS system is kept.
6. The base station is designed with low power consumption, and the photoelectric composite cable is used for centralized power supply, so that the system engineering cost is reduced.
7. The Beidou satellite and GPS satellite signal coverage in the tunnel is realized, and the train satellite signal is kept from being lost.
8. The system network manager remotely manages the base station and the terminal, and realizes the functions of login management, query setting, fault management, data storage, remote data updating, terminal positioning management and the like.
Drawings
Fig. 1 is a schematic diagram of signal transmission between an on-board device and a base station.
Fig. 2 is a schematic diagram of two-way two-sided ranging.
Fig. 3 is a schematic structural diagram of a railway tunnel precise positioning device.
FIG. 4 is a schematic diagram of a multi-mode redundant hot backup.
Fig. 5 is a schematic diagram of a positioning base station antenna.
Fig. 6 is a schematic diagram of a positioning base station.
Detailed Description
The invention will be further explained with reference to the drawings.
The structure of the railway tunnel accurate positioning device provided by the invention is shown in figure 3, and comprises a tunnel positioning server TLBS, wherein the tunnel positioning server TLBS is connected to a plurality of positioning base station controllers TBC through Ethernet, each positioning base station controller TBC is connected with a plurality of positioning base stations UBS, the plurality of positioning base stations UBS under the control of the positioning base station controller TBC and a positioning terminal UBE are interactively positioned, the positioning base stations UBS are remotely managed, positioning data of the positioning base station controllers TBC and the positioning terminal UBE are received, and data processing, accuracy optimization, data storage and management are carried out; the positioning base station UBS realizes the accurate synchronization between the base stations, realizes the data communication with the base station UBS through optical fibers or network cables, and outputs and displays the positioning information of the UBE terminal; the UWB module responds to the ground positioning base station to complete the ranging and data communication work
Further improved, the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundancy hot backup, and the structure is shown in fig. 4:
1) the base station UBS is annularly connected with the base station controller TBC through an optical fiber;
2) the distance between the base stations is 500m, and PoE power supply can be adopted;
3) the TBC and the UBS can be in a ring network or in a chain or star networking mode;
4) the ground UBS base station adopts dual-machine hot standby to ensure the system safety;
5) the farthest distance of the optical fiber is 10 km;
6) one TBC can control 20 UBS, 10 each left and right, i.e., one TBC every 5 km.
In a further improvement, the positioning base station UBS is as shown in fig. 5, and includes a base station system and a V-shaped shield installed on the surface of the base station system, the base station system and the V-shaped shield form a triangular prism structure therebetween, each inner surface of the V-shaped shield is installed with a base station antenna, the double antennas are installed back to back, and each base station antenna is connected with the positioning module.
The working parameters of the base station antenna are as follows:
each base station can manage 128 UBE terminals, and simultaneously position and communicate;
the working frequency of the base station is 4500MHz, and the working bandwidth is 500 MHz;
the power consumption of the base station is less than 5W, and the base station is suitable for remote power supply;
the outdoor design meets the protection requirement of IP 65;
the antenna and the base station are integrally designed;
the external dimension is as follows: 450X260X 180.
In a further improvement, the positioning base station UBS is shown in fig. 6 and comprises a data communication and signal processing module, the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a big dipper RTK positioning module, a communication module, a train control interface and a display terminal, wherein the big dipper RTK mainly provides accurate positioning data outdoors; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected. The three positioning data need to be subjected to optimization and collaborative algorithms such as data screening and comparison by the positioning data signal processing module, and finally accurate and reliable positioning data are output. And the UWB module responds to the ground positioning base station to complete the ranging and data communication work.
The UBS working parameters of the positioning base station are as follows:
the working frequency is as follows: 4243.2-4742.4 MHz.
Emission power: 41 dBm/MHz.
Reception sensitivity: -106 dBm.
The positioning mode is as follows: TDOA/TOF.
The range measurement range is as follows: 1-500 m.
Positioning accuracy: 15 cm.
Communication rate: 110 kbps.
A data interface: SPI, UART, USB.
Working voltage: DC 5V.
Rated power: < 5W.
Working temperature: -40 to 75 ℃.
Storage temperature: -45 to 85 ℃.
Working humidity: 0 to 90 percent of the water-soluble polymer has no coagulation.
Size: 50x 15 x 8 mm.
The RTK module provides accurate positioning of an outdoor Beidou satellite/GPS/GLONASS and provides an inertial guidance function. The big dipper RTK module has the main technical indexes that:
the invention also provides a method for accurately positioning the railway tunnel, which comprises the following steps:
1) the electric wave flight time Tpr can be calculated through the transmission-reception period Tround and the response period Treply measured by the base station and the terminal:
tx transmit timestamp; rx receive timestamp;
and (3) Tround: local transmit-receive round trip time;
treply: local receive-forward time delay;
tpr: a time of flight in space;
2) calculating the distance Dt from the train to a certain fixed kilometer post according to the flight time of the electric waves, and determining the position DK of the train:
when Dt (t +1) > Dt (t), the train kilometer post: DK DKn + Dt;
when Dt (t +1) < Dt (t), the train kilometer scale: DK is DKn-Dt.
The invention has the technical innovation points as follows:
UWB extremely narrow pulse positioning base station and high-speed adaptability technique:
according to railway train tunnel and station application environment, UWB ultra-wideband extremely-narrow pulse forming and synchronous ranging base station equipment which is suitable for high-speed movement conditions with train speed greater than 200km/h and outputs 50-time positioning data per second is developed.
2. The tunnel station positioning base station cooperative computing and networking technology comprises the following steps:
the large tunnel and the large station need to be covered by a plurality of groups of positioning base stations, a plurality of base station positioning protocol stacks (comprising a physical layer, a data link layer and an MAC layer) need to be formulated, and the functional requirements of the plurality of groups of positioning base stations on networking, data interaction, data cooperation, accurate positioning algorithm realization and the like are met.
3. The vehicle-ground high-speed data communication technology comprises the following steps:
the mobile data communication and the positioning information transmission between the train and the tunnel positioning base station are provided, the transmission rate can reach 6Mbps, and the information transmission between the train and the base station is met.
4. Vehicle-mounted positioning terminal and multimode positioning data processing technology:
train positioning terminal contains a plurality of orientation module such as big dipper accurate positioning, indoor accurate positioning, high accuracy inertial navigation location, need carry out automatic selection, mutual coprocessing and provide accurate positioning data for train and management center to the multiunit positioning data stream.
5. The system safety and reliability technology meeting the train control requirement is as follows:
firstly, a multimode redundant hot backup technology is adopted in a base station and vehicle-mounted equipment, so that the normal work of the equipment is not influenced by the single-node fault; secondly, in a positioning network framework, three groups of positioning links are adopted simultaneously according to a time division multiplexing principle, so that the positioning data can be determined by taking two out of three, and the safety and reliability of the system are ensured.
6. Tunnel covering antenna technology
In order to adapt to the one-dimensional use environment of the railway tunnel and increase the coverage distance, a micro-strip antenna array technology is adopted to develop a small high-gain narrow-beam antenna, the beam angle is less than 5 degrees, and the gain is more than 20 dB.
7. A tunnel positioning base station low power consumption technology and a POE centralized power supply technology.
The main technical indexes of the invention are as follows:
1. the positioning precision of the train in the tunnel is not more than 1 meter.
2. Positioning the data refresh rate: 50 Hz.
3. The highest communication rate is 6.8 Mbps.
4. The maximum range is greater than 400 meters.
5. Support 6 frequency bands, the central frequency is between 3.5GHz and 6.5 GHz.
6. The transmitted power density was-41.3 dBm/MHz.
7. The base station antenna gain is more than 20 dB.
8. A data interface: ethernet IP, fiber optic or network cable.
9. A power interface: AC 170V-240V.
10. Rated power of base station: < 5W.
11. Base station cell capacity: 128 users.
12. Working temperature: -25 to 55 ℃.
13. Working humidity: 0 to 90 percent of the water-soluble polymer has no coagulation.
14. Protection grade: IP 65.
At present, 13 kilometers of railways, 2 kilometers of tunnels and more than ten thousand kilometers of tunnels are in a planning and designing stage in China, the market scale of the Beidou satellite tunnel positioning system in five years in the future is 10-16 million yuan according to 5 million yuan of cost analysis per kilometer, and the market scale is more than 1 million yuan due to the fact that vehicle-mounted equipment of one million locomotives is improved.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides a railway tunnel accurate positioning device which characterized in that: the system comprises a tunnel positioning server TLBS, wherein the tunnel positioning server TLBS is connected to a plurality of positioning base station controllers TBC through Ethernet, each positioning base station controller TBC is connected with a plurality of positioning base stations UBS, and the plurality of positioning base stations UBS under the control of the positioning base station controller TBC and a positioning terminal UBE are positioned in an interactive mode, wherein the positioning base stations UBS are remotely managed, positioning data of the positioning base station controllers TBC and the positioning terminal UBE are received, and data processing, precision optimization, data storage and management are carried out; the positioning base station UBS realizes the accurate synchronization between the base stations, realizes the data communication with the base station UBS through optical fibers or network cables, and outputs and displays the positioning information of the UBE terminal; and the UWB module responds to the ground positioning base station to complete the ranging and data communication work.
2. The railway tunnel accurate positioning device of claim 1, wherein: and the positioning terminal UBE and the positioning base station UBS adopt multi-mode redundant hot backup.
3. The railway tunnel accurate positioning device of claim 1, wherein: the positioning base station UBS comprises a base station system and a V-shaped shield arranged on the surface of the base station system, a triangular prism structure is formed between the base station system and the V-shaped shield, a base station antenna is arranged on each inner surface of the V-shaped shield, the double antennas are arranged back to back, and each base station antenna is connected with a positioning module.
4. The railway tunnel accurate positioning device of claim 1, wherein: the positioning base station UBS comprises a data communication and signal processing module, wherein the data communication and signal processing module is respectively connected with a UWB tunnel positioning module, an inertial navigation positioning module, a Beidou RTK positioning module, a communication module, a train control interface and a display terminal, and accurate positioning data is mainly provided outdoors by the Beidou RTK; positioning data is mainly provided indoors by UWB; the inertial navigation positioning provides continuous positioning information according to the acceleration and the angular velocity of the train, and the Beidou and UWB positioning is corrected.
5. A railway tunnel accurate positioning method is characterized by comprising the following steps:
1) the electric wave flight time Tpr can be calculated through the transmission-reception period Tround and the response period Treply measured by the base station and the terminal:
tx transmit timestamp; rx receive timestamp;
and (3) Tround: local transmit-receive round trip time;
treply: local receive-forward time delay;
tpr: a time of flight in space;
2) calculating the distance Dt from the train to a certain fixed kilometer post according to the flight time of the electric waves, and determining the position DK of the train:
when Dt (t +1) > Dt (t), the train kilometer post: DK DKn + Dt;
when Dt (t +1) < Dt (t), the train kilometer scale: DK is DKn-Dt.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504443A (en) * | 2021-01-04 | 2021-03-16 | 中交国通公路工程技术有限公司 | Measuring system for rapidly detecting tunnel illumination |
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
| CN113791383A (en) * | 2021-10-15 | 2021-12-14 | 郑州轻工业大学 | Combined double-anchor-point positioning method based on ultra-wideband ranging |
-
2019
- 2019-11-01 CN CN201911059288.9A patent/CN110806207A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112504443A (en) * | 2021-01-04 | 2021-03-16 | 中交国通公路工程技术有限公司 | Measuring system for rapidly detecting tunnel illumination |
| CN113267798A (en) * | 2021-05-26 | 2021-08-17 | 常州大学 | High-precision tunnel positioning system and method based on BDS/TBS technology |
| CN113791383A (en) * | 2021-10-15 | 2021-12-14 | 郑州轻工业大学 | Combined double-anchor-point positioning method based on ultra-wideband ranging |
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