RU2642507C1 - Method of non-satellite navigation - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: radio-frequency tags are installed on road signs, traffic lights, poles, trees, buildings, and structures, as well as other artificial objects and non-living objects suitable for this purpose, while their information data characterizing the uniqueness of each label location are contrasted with analogous data printed on an electronic map and/or stored in the database. Tag coordinates are assigned relative to the boundaries of a city or other locality object, an area, a region, an administrative unit or a state by building a grid, where the southernmost point of the boundary is a zero-numerical value of the index (number) in the position indicated by a single letter of the alphabet, the western point - in the position indicated by a different letter of the alphabet. The coordinates of the remaining tags following the tag(s) with a zero index for either of the two letter positions are obtained by adding, for example, units to the indexes of the tag positions. Tag coordinates consider prohibiting and prescribing traffic signs located at intersections, branches and forks of the road directly, where they are installed, as well as on adjacent intersections, branches and forks. Paving the object route is carried out by connecting the next tag (s) from the initial point, at which the user is located, nearest to the desired point of the tag(s) across all tags lying between them, and then selecting the minimum distance.

EFFECT: providing navigation services in a zone containing RF tags at arbitrary trajectories of the user movement.

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Description

The present invention relates to the field of radio navigation and can be used in systems for determining the location and tracking the trajectory of objects moving in the above-ground space by signals from navigation-free satellite systems using RFID technology.

A known system for determining the location of a moving object by the signals of global navigation satellite systems [1], containing a space segment in the form of navigation spacecraft (NSC), a relay located on a moving object, and a ground segment in the form of a NPC. The relay includes a receiver of the NKA signals, a carrier frequency converter and a transmitter of relay signals. The NPC contains a block for receiving and processing signals of a repeater, a block for calculating coordinates of a location of a repeater, and also a block for correcting and a block for receiving and processing signals from a satellite. The correction block contains a block for calculating the ionospheric delay and a block for calculating the error of the ephemeris-time support of the spacecraft, a meteorological unit, a block of data on the ionosphere, and a unit for calculating the position of the relay.

Also known is a system and method for determining location coordinates [2], which relates to satellite positioning, and can be used to determine location coordinates in a global navigation satellite system. The technical result consists in ensuring a smooth transition from one method of determining location coordinates to another without abrupt changes in coordinate values, which provides more reliable control of vehicles and similar objects. To do this, calculate the coordinates of the location with low accuracy and, if the determination of coordinates with high accuracy is not possible, apply the correction to the calculated with low accuracy values to determine the final coordinate values, while the difference between the coordinates calculated with low accuracy is used as a correction, and the coordinates calculated with high accuracy at the time when the determination of the coordinates of the location with high accuracy was last possible, while the possibility of determining the location coordinates with high accuracy is continuously evaluated, and if it is possible, the coordinates of the location are calculated with high accuracy and the newly calculated correction is applied to the coordinates calculated with high accuracy to obtain a new final value of the location coordinates.

However, all satellite navigation systems have significant disadvantages:

- the high cost of creating a satellite constellation and its maintenance with the need for constant replacement of its constituent elements;

- the high cost of creating and maintaining ground control stations;

- the complexity of the architecture and high requirements for the computing power of the equipment used;

- a comparatively large positioning error, in the first place, of fast moving vehicles due to the delay in processing the information of the received signals from the satellite, which are subsequently processed by the ground center and transmitted to the on-board computer of the vehicle;

- satellite signals search and synchronization take a lot of time, especially if the user is surrounded by reinforced concrete high-rise buildings;

- dependence on weather conditions, the state of the atmosphere in terms of electromagnetic disturbances of anthropogenic and natural nature, the activity of the Sun, as well as the direct visibility of the tracked object.

A known method of road safety [3], in which the vehicle detection unit mounted on traffic signs and traffic lights, is equipped with a transceiver of frequency and / or phase-modulated radio signals with a narrow radiation direction and is moved from signs and traffic lights to the front of the vehicle in the direction its movements, and road signs and traffic lights are equipped with electronic duplicates, made for example in the form of oscillatory circuits - radio frequency identifiers, races laid directly on them, next to them and / or at a certain distance from them, and having response signals unique to a given sign and type of traffic light to the polling transceiver signal, the output of which is connected to a device for automatic signal recognition, connected, in turn, in parallel with a display unit of information and a unit for adjusting the fuel supply of a vehicle with a limiter, which replaces the control unit, memory and logging violations for recording current information and the unit you working out recommendations for the driver of the vehicle on the parameters of the movement. At the same time, when a modulated interrogation signal emitted by a transceiver hits a vibration sign of a traffic sign and the frequency and / or phase-modulated parameters of the polling signal coincide with the resonance characteristics of the oscillation contour, the signal amplitude increases sharply, which is identified by the transceiver as a mark inherent to a particular traffic sign or type of traffic light. The signal corresponding to the generated mark is transmitted from the transceiver to the device for automatic recognition, contrasting the mark from the existing set containing information about all currently known traffic signs and types of traffic lights, to a specific traffic sign or type of traffic light, which is displayed as an audio signal, photo - and / or video information on the display of the information display unit. In addition, the signal generated by the device for automatic recognition is simultaneously fed to the fuel supply control unit, which generates a control signal supplied to the limiter, which reduces the fuel supply to the combustion chamber if the input signal is identified as limiting the speed of the vehicle in hazardous areas (road signs , limiting the speed) or generally stopping the fuel supply (traffic signs prohibiting movement).

The disadvantages of this method include the inability to position the vehicle in relation to the place where it is located.

The closest in technical essence to the claimed object is a device [4], containing at least two radio frequency tags installed at known places of the railway section, and located on the railway vehicle radio frequency reader. Radio frequency tags are made using the technology of devices on surface acoustic waves: SAW tags operating at a frequency of 2.4 GHz. The radio-frequency reader is made at least two-channel and with two transceiver antennas located on the bottom of the railway vehicle in the spaces between its wheelsets and spaced along the length of the railway vehicle. Pairs of transceiver antennas and their corresponding SAW tags installed on the railway track are located in parallel planes that are inclined in the transverse direction of the railway vehicle to the horizon at an angle of 0-65 °. In this case, the SAW tag can be installed on the corner, which is fixed with its free shelf on the railway track, including on its rail-sleeper. The corner can be installed with its free shelf directly under the rail.

The disadvantages of the device include a limited scope due to the presence of strictly defined directions of movement of vehicles - passenger and freight trains, locomotives, electric trains, etc., as well as the use of radio frequency tags made using surface acoustic wave technology.

The present invention is aimed at providing the ability to determine the location of a vehicle equipped with a radar reader of data from radio frequency tags located on road signs, traffic lights, poles, trees, buildings and structures, as well as other artificial objects and inanimate objects, on which they can be installed and these marks are fixed. At the same time, the coordinates of the marks are pre-determined, for example, by assigning them once using any known global positioning system (GPS, GLONASS) or by assigning coordinates associated only with the unique position of the marks relative to street intersections and other road branches and branches, including officially unspecified on the map of the area.

The technical result is achieved by the fact that on the road signs, traffic lights, poles, trees, buildings and structures, as well as other artificial objects and suitable objects of inanimate nature, radio frequency tags are set, the coordinates of which are predetermined, while the vehicle is equipped with an information radar reader from marks transmitting it to an electronic map of the area, formed in advance on the basis of satellite images, with the coordinates of all marks of the area marked on it in addition ode, village, town, directions, road, route. The map compares the data determined by the current radar reader of the tag with the data on the map and / or in the database. After that, the image is visualized for the user with a location mark at a certain point on the street, road, route, direction. The movement route is laid relative to the already established coordinates by connecting the closest marks from point “A” where the user is located to point “B” selected on the map, determined by the nearest object with the mark installed on it, by including marks between them along the roads, directions or routes with the choice of the minimum distance between points "A" and "B". The accuracy of reaching the object will be determined by the proximity of the mark to it and the density of such marks on the terrain next to the selected object.

The technical result consists in providing navigation services in an area containing radio frequency tags, while providing high-frequency and other radio communications in the direction from a moving or stationary vehicle, pedestrian or other user to the tag in case of arbitrary user trajectories.

Distinctive features of the proposed method is that radio frequency tags are installed on road signs, traffic lights, poles, trees, buildings and structures, as well as other artificial objects and suitable objects of inanimate nature, while their information data characterizing the uniqueness of the location of each label, contrasted with similar data printed on an electronic map of the area and / or stored in a database. The coordinates of the labels are assigned relative to the established boundaries of the city or other inhabited object, district, region, region, administrative unit or state by constructing a coordinate grid, where the southernmost point of the border has zero numerical index (number) at a position indicated by one or more letters of the alphabet, western - at the position indicated by another letter or letters of the alphabet. The coordinates of the remaining labels following the label (s) with a zero index at either of the two letter positions are obtained by adding, for example, a unit to the index of the label positions. The coordinates of the signs take into account prohibitory and prescriptive traffic signs located at intersections, junctions and forks, directly where they are installed, as well as at neighboring intersections, branches and junctions. The accuracy of positioning a moving or stationary object on the map is determined by the distance from it to the nearest mark and the density of such marks on the surface next to the selected object. The routeing of the object’s movement is carried out by connecting the nearest marks (marks) from point “A”, where the user is located, to the marks (marks) closest to point “B” through all the marks between them, with the subsequent selection of the minimum distance.

Essence: labels play the role of geodetic points that take into account information about road signs and are located on road signs, traffic lights, poles, trees, buildings and structures, as well as other artificial objects and objects of inanimate nature, relative to which the positioning of the selected object is a vehicle, a pedestrian or other user with a radar reader.

The proposed method of positioning - unlike global methods and systems of positioning - works ahead of schedule, notifying, for example, the driver of an event (intersection, turn, fork, dead end, oncoming traffic, etc.) some time before it occurs, therefore it always There is a margin of time for deciding on the choice of a further route. For example, even at a speed of 40 m / s (144 km / h) with a maximum range of detection by the radar of an active mark of 100 m, the driver has 2.5 seconds to make a decision. The positioning accuracy of the proposed method is significantly higher than that of any global navigation system, since the coordinates of the mark, regardless of its location, are assigned relative to the intersection, branch and fork of the road, route, direction and other objects mentioned above. In order to avoid overlapping by any object absorbing or reflecting radio waves, marks corresponding to one coordinate of the terrain can be duplicated at several adjacent objects. Each label has a sign of inheritance of information from nearby labels, for example, about road signs. At the same time, other extraneous events, such as electromagnetic disturbances in the atmosphere, weather conditions, etc., will not affect the user's positioning accuracy.

The invention is illustrated by the accompanying drawings, where in FIG. 1 presents a General scheme of operation; in FIG. 2 is an example of a route search, in FIG. 3 is an example of a sub-identifier tag identifier.

In FIG. 1, the following notation is introduced:

1 - object;

2 - radio frequency tag;

3 - radio waves (signal polling tags radar reader);

4 - radar reader;

5 - vehicle.

Explanations for FIG. 2: A1-A12 - labels 2 selected by the on-board computer of the vehicle 5 while minimizing the route from point "A" to "B".

Explanations for FIG. 3:

- the mark is probably at the crossroads, since movement in all four directions is possible;

- movement in the direction of the west (left) is prohibited;

- movement in the direction to the east (to the right) - only directly.

The method can be implemented using a device (Fig. 1), consisting of an object 1 (for example, a lighting support), on which - in the zone of inaccessibility for vandals or invisibility - there is a radio frequency tag 2 interrogated by signal 3 of the radar reader 4 installed, for example, under the hood of a vehicle 5. In the on-board computer (not shown) of the vehicle 5, information is entered on its type (passenger, freight, with a trailer, etc.), which is necessary to build a route taking into account the traffic signs located on it , primarily prohibitive and prescriptive. Information about both types of these signs is recorded in the identifiers of labels 2 located at the intersections and turns leading to these signs, and is duplicated at all intersections and turns that precede these signs.

The unique identifier of each label 2 will include the following sub-identifiers:

1. Sub-identifiers of the prohibition that determine that traffic in this direction is prohibited, for example, prohibition signs “Traffic is prohibited,” “Entry is prohibited,” and others from this category are established.

2. Prescription sub-identifiers, taking into account the prescriptive signs, to select the permitted direction of travel.

3. Sub-identifiers of the direction - south, east, north, west.

Each direction sub-identifier has the positions “a” and “b” with the corresponding numerical indices with the letter designation, which are set as follows. The extreme southern mark 2 or several marks 2 of the settlement have direction identifiers equal to zero - “a0”. As you move north, for example, the unit “a1” is added to the direction sub-identifier. Similarly, all labels 2 located on the western border have a sub-identifier of the “b0” direction, and as they approach the east, the “b” index increases, for example, by one — “b1”. At the same time, when the settlement grows and goes beyond the previously established borders, the unit “a-1”, “b-1” is subtracted from the original sub-identifiers “a” and “b”. Labels 2 located on the same line (street) can have the same numbers in the sub-identifier "a", differing in numbers in the sub-identifier "b", and vice versa. Thus, each sub-identifier of the direction will be indicated by two positions “an” and “bm” (n and m are natural numbers).

Prohibition sub-identifiers and prescription sub-identifiers have a higher priority than the direction sub-identifier and are checked in the above order. If the identifier of label 2 contains, for example, a sub-identifier of prohibition of turning in the desired direction, then label 2 leading in the direction of rotation is excluded from consideration and is not used to build a route.

If label 2 is once passed by a vehicle while following a given route, then it is excluded from further consideration to avoid looping.

Since the map is built on one scale at the stage of route selection, the minimum path (distance) is selected based on the summation of the segments of which it consists, for example, in millimeters.

The operation of the device is as follows (Fig. 2). Let the map be oriented in the south-north direction and vehicle 5 advance from point “A” to point “B”. The radar reader 4 scans the surrounding area with radio waves 3 in order to search for the marks 2 closest to it, for example, based on the calculation of the delay time of the return signal arriving at the radar reader 4 and / or the Doppler effect. After receiving the response signal from the tag 2 located on the nearest object 1, the radar reader 4 transmits the identifiers to the on-board computer of the vehicle 5, which searches for similar identifiers on the offline map loaded into it or the database associated with this map obtained, for example using satellite imagery. Thus, the initial positioning of the vehicle 5 is made.

From the established positioning point, a route is constructed with a choice of the minimum distance between the start and end points as follows. The identifier of item “B” is determined, and only the sub-identifier of the direction is subject to assessment - in this case, this sub-identifier is several units larger than the original one, both in position “a” and “b” (the number of discrepancy units depends on the number of labels 2, established between points "A" and "B" in the north and east direction).

Next, the on-board computer determines two marks 2 on the map closest to the intersection or bend in relation to the starting positioning point. Suppose that the closest label 2, marked on the map “A1”, located at the intersection, has a sub-identifier of the direction “a10” and “b23”, in addition, it indicates changes in the sub-identifiers of neighboring labels 2 - on the right (north) “a +”, on the left (south) - “a-”, forward (west) - “b-”, back (east) - “b +”, while plus indicates an increase in the index of the neighboring label 2, minus indicates a decrease (Fig. 3).

Next, the on-board computer considers labels 2 adjacent to “A1”, which allow improving indices at positions “a” and “b”. “A2” is a label that improves the index at position “b”, therefore it is taken as the next potential label 2 on the route of the vehicle under construction 5. In this case, “A1” is excluded from further consideration to avoid looping the route.

The on-board computer considers the marks 2 adjacent to A2, since driving directly from A2 is impossible (the prohibition sub-identifier forbids driving directly, since this is a T-junction), then search for marks 2 to the left of A2, although this direction and worsens position “a” (as a rule, a temporary deterioration of one of the two indices is allowed). Viewing the route to the right - in the direction of “A2 '” - “A2' '” - “A2' ''” worsens both positions “a” and “b”, in addition, further movement will lead to a loop of the route, since it should be taken into consideration one of the already passed marks 2, which is prohibited.

Movement in the direction of "A4" ... "A5" improve the index at "a", so they will be selected as priority areas. On “A4” it is possible to move to the right - in the direction “A4 '” - “A4' '” and further up to “A12”, however, if there are alternative options, this route will be one of the longest and will be excluded from consideration at the stage of distance estimation between points “A” and “B”.

Carrying out further similar actions, the on-board computer will route to “A11”, where it will stop, since “A12” is located on the building (or several marks 2 with the same position indices “a” and “b” at the corners of the building). In this case, positioning is possible accurate to the found building.

As shown above, other alternative routes can be selected, but the distance calculation performed by the on-board computer will show the only possible minimum, shown in the figure as the optimal route.

The second variant of the route of movement of the vehicle 5 can be built from point “A” “to the right”, however, as a result, calculating the sum of the lengths of the segments of the obtained broken line will give a greater result, and the route will be rejected.

Routing when the vehicle is moving is similar.

Thus, the proposed device allows you to notify the road user in advance of an upcoming event - reaching a certain point on the route, working ahead of the curve; the positioning accuracy of the proposed method is significantly higher due to relative binding to objects and duplication of labels; the identification of the location of the object is not affected by any other objects and by-products. Moreover, radars do not significantly pollute the environment with electromagnetic radiation, since they can operate in a pulsed mode with a pause of one to several seconds.

Sources used

1. Patent No. 2490665, IPC G01S 19/42. The system for determining the location of a moving object by signals from global navigation satellite systems / Barinov S.P., Nepogody D.S.

2. Patent No. 2487370, IPC G01S 9/42. A system and method for determining location coordinates / Gray Stuart, Soul Damien, Roberta Peter James, Kellar William James.

3. Patent No. 2574293, IPC G08G 1/09. A way to improve road safety / Simdyankin A.A., Simdyankin V.A., Uspensky I.A., Parshin Yu.N., Kolesnikov S.V., Byshov N.V., Borychev S.N., Yukhin I. .A., Zhukov K.A.

4. Patent No. 125535, IPC B61L 25. Radio frequency identification and positioning of railway vehicles / Rabinovich MD, Shubarev VA, Nikiforov BD, Efimov VV, Gavrilov LB, Kislitsyn V .O., Sargsyan P.S., Kalinin V.A.

Claims (5)

1. A method for positioning stationary and arbitrarily moving objects equipped with a radio signal reception-transmission system, comprising detecting radio identifiers attached to it on a map of the area, characterized in that the coordinates are entered as data in radio frequency identifiers, for example RFID, which are set on traffic signs, traffic lights, poles, trees, buildings and structures, as well as other artificial objects and objects of inanimate nature, on which they can be installed and fixed, while m this data, characterizing the uniqueness of the location of each identifier, is contrasted with similar data printed on an electronic map or an downloaded offline map of the area, and is assigned relative to the established boundaries of the city or other inhabited object, district, region, region, administrative unit or state by constructing a coordinate grid, where the southernmost point of the border has a numerical index of zero at the position indicated by one or more letters of the alphabet, the western - pr the position indicated by a different letter / letters of the alphabet, the coordinates of the remaining control points following the point (s) with the index zero for any of the two letter positions are obtained by adding, for example, units to the numerical indices of respective positions. 2. The method according to p. 1, characterized in that the radio frequency identifiers take into account traffic signs located at intersections, branches and ramifications of the road, directly where they are installed, as well as at all adjacent intersections, branches and ramifications. 3. The method according to p. 1, characterized in that the routeing of the object’s movement is carried out by searching for the closest radio frequency identifier to the point where the user is located, to the nearest identifier to the desired point, followed by connecting these points with lines passing through all the identifiers lying between them, in this case, once passed identifiers are excluded from consideration. 4. The method according to p. 1, characterized in that the search for intermediate route identifiers is carried out by finding identifiers with index values of alphabetic positions, successively approaching from the initial values to the desired ones (or vice versa), taking into account road signs and the subsequent selection of the minimum value from the alternatives found distance. 5. The method according to p. 1, characterized in that the accuracy of positioning a moving or stationary object on the map is determined by the distance from it to the nearest radio frequency identifier and the density of the identifiers to the object.

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