CN104697517A - Multi-target tracking and positioning system for indoor parking lot - Google Patents
Multi-target tracking and positioning system for indoor parking lot Download PDFInfo
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Abstract
The invention discloses a multi-target tracking and positioning system for an indoor parking lot, and belongs to the field of multi-target tracking and positioning. The system comprises a UWB positioning system and a vehicle body positioning device, the UWB positioning system comprises a wireless synchronous controller and a wireless positioning base station, and the vehicle body positioning device comprises a vehicle body positioning label, an inertia navigation module, a wireless module and a portable power source module; the data output by the inertia navigation module are sent to an upper computer system through the wireless module, meanwhile, the vehicle body positioning label sends a signal to the wireless positioning base station, the wireless positioning base station transmits the data to the wireless synchronous controller, the wireless synchronous controller sends the signal to an upper computer, and the upper computer system obtains target position data and posture data, determines specific vehicle body position and posture information through fusion operation and sends the information to a mobile client. The combined positioning system breaks through a positioning mode limited by environments in the prior art, and improvement in the aspects of spatiality, real-time performance, quantitative performance and precision is achieved.
Description
Technical field
The present invention relates to a kind of wireless location system, particularly a kind of location by super wideband wireless combines with inertial navigation, for multiple goal vehicle provides the tracing-positioning system of precision navigation in parking lot, can belong to multiple target tracking positioning field.
Background technology
Along with developing by leaps and bounds of China's economy, in recent years, the owning amount up growth at double of private car, user to shopping centre, hospital, the demand of the parking in school etc. place increases greatly; Traditional middle-size and small-size parking lot can not meet popular demand, therefore the large-scale parking lot built, a lot of place, but because parking lot space is large, vehicle is many, direction not easily distinguishes, user can only drive a car and turn-take everywhere in parking lot, finds vacant position, and the car searching out oneself when finishing thing and will leaving parking lot is again a troublesome thing; Current large parking lot is not all generally for user provides the service of location of stopping.
Because parking lot is in indoor, radio navigation, gps satellite navigation and celestial navigation etc. all need the strength by the external world, cannot use in indoor, so be difficult to accurately locate vehicle in parking lot, and part indoor navigation is by positioning time, precision, scope and number of targets restricted, and therefore accurate parking lot multiple target tracking location technology becomes the gordian technique that society is badly in need of solving.Indoor positioning technologies conventional now has infrared confirming orientation technology, inertial navigation location technology, wireless sensor network location technology, magnetic tracking.
Infrared confirming orientation technology utilizes the optical sensor being arranged on indoor to accept to position from the infrared-ray of infrared ray IR identification transmissions modulation; Although infrared-ray location technology has relatively high positioning precision, its transmission range shorter and easily by the fluorescent light of indoor or other light disturb, indoor locating effect is deteriorated.
Inertial navigation location technology connects firmly on motion carrier by gyroscope and accelerometer, utilizing the moving target inertia that self exists when moving, measuring the course of moving target respectively, attitude, speed and position.But because self exists drift and scores accumulated error, cause long-time positional information error serious, and in enclosed environment, there is no the calibration of extraneous navigational system, so inertial navigation location cannot be used alone.
Wireless sensor network location technology obtains the position of moving target by time of arrival (toa), signal arrival time difference, angle of arrival and received signal strength etc., but because moving target is the three-dimensional body in space, be simplified to a barycenter body and brought certain error to location Calculation, and the attitude information of object cannot be exported, so also existing defects.
Magnetic tracking is by setting up a kind of specific magnetic fields region and utilizing magnetic sensors to obtain Magnetic Field, then according to the Relation Parameters between the position coordinates system at obtained data calculating magnetic field inductor place and reference frame.But owing to disturbing by electromagnetism or magnetic metal, system delay is larger.
Want to obtain vehicle location and attitude information in the environment of parking lot, only utilize above method to reach target.
So be badly in need of one under enclosed environment, the appearance of Multi-Targets Tracking and Positioning System can be carried out to parking lot.Effectively can solve the problem of people at Parking.
Summary of the invention
The problem on parking stall can be found rapidly after entering parking lot in order to realize vehicle, the invention provides a kind of parking garage Multi-Targets Tracking and Positioning System, position and the attitude information of moving vehicle is obtained by this Multi-Targets Tracking and Positioning System, have easy and simple to handle, the features such as data are accurate and real-time.
A kind of parking garage of the present invention Multi-Targets Tracking and Positioning System, is characterized in that: comprise access management device, automotive body positioning device, UWB positioning system, master system; Described UWB positioning system comprises wireless synchronous control device and wireless location base station; Described access management device is provided automotive body positioning device and is sought car label, and described automotive body positioning device comprises vehicle body positioning label, inertial navigation inertial navigation module, wireless module, portable power source module; The data that described inertial navigation inertial navigation module exports are sent on master system by wireless module, are obtained the attitude data of target object by master system; Vehicle body positioning label sends signal to wireless location base station simultaneously, and wireless location base station sends data to wireless synchronous control device by wireless channel; The position data of wireless synchronous control device is obtained by master system; Position and attitude information by merging computing and determining now vehicle body particular location and body gesture information in conjunction with parking lot electronic chart, then is sent to mobile client by master system.
The present invention specifically comprises the following steps:
Step 1) master system pre-installed supporting positioning software (Project Viewer) and loaded the overall map of this parking garage, and deposited this parking position information of park in database server;
Step 2) m*n platform wireless location base station is arranged on parking garage everywhere, and spacing≤30 meter of every two wireless location base stations; Described wireless location base station adopts ceiling type peace robin or adopts supporting mounting bracket to be fixed on the sidewall of wall by base station; Wireless location base station will keep the distance of > 0.3 meter with corner, avoids signal to launch on metope;
Step 3) wireless synchronous control device is placed on the side of wireless location base station, described wireless synchronous control device and wireless location base station all will be placed on the height of overhead >=2 meters, and IP address, wireless location base station is set to 192.168.0.1,192.168.0.2 ... 192.168.0.255 the arbitrary address between except 192.168.0.8; Wireless synchronous control device IP address is set to 192.168.0.8; Wireless synchronous control device transfers data to master system by wireless router, and the IP address of the LAN mouth of described wireless router is set to 192.168.0.8, makes isochronous controller data can be sent to master system by wired or wireless mode;
Step 4) before the initialization of UWB positioning system will first by vehicle body positioning label with seek car label and be placed on >=position of 1 meter high, recycling UWB debugging software, be one group with 3 locating base station, 4 delays carried out to positioning label and verifies and preserve delayed data, complete the verification of a rectangular-shaped network; Be placed into by label in next rectangular-shaped locating base station network, carry out delays verification, concrete steps are identical with first time, then complete the verification of all rectangular-shaped base station networks successively again, vehicle body positioning label with seek car label and can come into operation.
Step 5) the above-mentioned label having completed Initialize installation is divided into two groups, one group is used for vehicle body positioning label, and another group is used for seeking car label, and is matched one by one by two groups of labels, keeps a record in a database; Then by vehicle body positioning label, inertial navigation, portable power source module, wireless module is fixed together and makes locating device, portable power source is that inertial navigation module and wireless module are powered, using automotive body positioning device with corresponding car label of seeking as one group, during use as set of device pairing use.
Step 6) when vehicle is near Entrance, access management device can export a set of automotive body positioning device to car owner and seek car label, and automotive body positioning device is fixed on roof by car owner, seeks car label and then carries with; Access management device can by tag number simultaneously, license plate number, and the information records such as entry time are also saved in database, match with electronic chart;
Step 7) in parking lot, UWB positioning system and inertial navigation module can detect position and the attitude information of vehicle respectively, the inertial navigation module be specially on automotive body positioning device sends body gesture data by wireless module, vehicle body positioning label sends UWB signal to wireless location base station simultaneously, and wireless location base station sends data to wireless synchronous control device by wireless channel; Then the attitude data in the position data of wireless synchronous control device and inertial navigation module is obtained by master system;
Step 8) after host computer gets the position data on wireless synchronous control device and the attitude data on inertial navigation, phase fusion calculation is carried out to both data, obtains vehicle body particular location and attitude information.
Step 9) user only need use mobile client to download parking lot map, and just can obtaining from host computer server the direction and position that the vacant parking space information in parking lot and vehicle now travel, during parking, not visible state can be set to by seeking car label.
Step 10) user is when needing to leave parking lot, and can reuse mobile client, the position that client shows 2 labels only need be set, just can obtain the direction range information between parking spot and user.
In step 8) described in fusion computing carried out to both data specifically formulate following targeting scheme:
After getting the displacement of inertial navigation module and the position coordinate data of attitude data and UWB positioning system, utilize reliability to carry out dynamic weighting fusion to them, obtain final co-located data.
When using UWB system to carry out location, position, suppose (t-3) moment respectively, in (t-2) moment, in (t-1) moment, the output coordinate data of t are (X
1, Y
1), (X
2, Y
2), (X
3, Y
3), (X, Y).Wherein t is current time.
Order:
Mul represents the multiple proportion of the position rate of adjacent three periods, when Mul more hour, the confidence level of UWB system location is higher; When Mul is greater than a certain threshold value θ, just can assert that this positioning result is invalid.The definition UWB positioning system Reliability factor is μ.
Wherein
When using inertial navigation inertial navigation module to position, due to the existence of its cumulative errors, therefore can suppose that, when inertial navigation inertial navigation location exceedes certain time interval T, its location confidence level is 0.Definition inertial navigation inertial navigation module CF is ν.ν increase in time and reducing.
Wherein
Setting, when ν is lower than a certain threshold value, upgrades position and the attitude information of object, reclocking again.
Final positioning result is
wherein L
ufor the result of UWB system location, L
sfor the result of inertial navigation module location.Because the output frequency of inertial navigation module is larger than the output frequency of UWB positioning system, therefore the sampling period of a UWB can be set, within this cycle, use inertial navigation to position, but use above formula mixing operation in this sampling instant, as the initial position of location next time.
Repeat in this way, can obtain comparatively accurate motion track, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, can accurately obtain vehicle body particular location and attitude information.
Described UWB positioning system is LINKUWB Wireless Networking high-accuracy position system, and adopt full Wireless technology to solve locator data transmission, network synchronous control, the technical barriers such as tag location scheduling, provide great networking flexibility and engineering convenience.
Described inertial navigation module model is AH100B, is a high performance AHRS (miniature attitude heading reference system), and this equipment, by the data of pick-up transducers, merges kalman filtering, exports real-time attitude data.
The position data that described master system obtains wireless synchronous control device realizes based on wireless synchronous control device, wireless location base station, vehicle body positioning label, wireless router; Described vehicle body positioning label sends UWB signal to wireless location base station, and data are transferred to wireless synchronous control device by wireless channel by wireless location base station, and positioning precision is up to 10cm; Wireless synchronous control device transfers data to master system by wireless router, master system is used to carry out Initialize installation to positioning system, and adopt signal arrival time difference (TDOA) measuring technique, determine the position data of target object.
The attitude data that described master system obtains target object realizes based on inertial navigation module, wireless module, portable power source module; Described wireless module specific software (X-CTU software) sets, and baud rate is identical with inertial navigation module, wireless module adopts portable power source to power, make to be connected on inertial navigation module on automotive body positioning device and wireless module all obtains power supply, the data that inertial navigation module exports are sent on master system by a pair wireless module, are obtained the 3 d pose data of target object by master system.
In described inertial navigation, accelerometer exports as speed increment, and gyroscope exports as angle increment, can obtain attitude and positional information by attitude algorithm and navigation calculation; But owing to there is integral error in solution process, so need the vehicle position data phase fusion calculation obtained with UWB positioning system.
The fusion computing of described master system is resolved based on carrying out dynamic weighting algorithm to data, comparatively accurate motion track can be obtained in this way, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, accurately can obtain particular location and the attitude information of moving vehicle.
When described user seeks car, the determination of vehicle body position is based on vehicle body positioning label, seeks car label to realize; Described two labels are set to one group, represent respectively in map with different colours, and user only need arrange the position that client shows 2 labels, just can obtain the direction range information between parking spot and user.
Beneficial effect of the present invention is:
1. the present invention uses UWB technology and inertial navigation technology, without the need to by external force, can realize carrying out accurately monitoring in real time to the position of multiple moving vehicle and attitude, accurately find idle parking stall in large parking lot.
2. the present invention uses wireless module to carry out Wireless transceiver to data, realizes the dirigibility in monitoring place, convenient to operation.
3. positioning precision of the present invention is high, and energy consumption is low, and signaling channel can be arranged, and effectively avoids co-channel interference and flexible for installation, is applicable to be difficult to lay the complex environment of circuit and build the application of positioning system temporarily.
4. this cover parking garage Multi-Targets Tracking and Positioning System breaks through the locator meams by environmental constraints in the past, achieves in spatiality, real-time, and the vast improvement of quantitative and accuracy aspect, solves the problem that " parking difficulty " " seeks car difficulty " simultaneously.
5. algorithm of the present invention can obtain comparatively accurate motion track, and improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, can accurately obtain vehicle body particular location and attitude information.
Accompanying drawing explanation
Fig. 1 is the simple and easy hardware orientation diagram of UWB positioning system.
Fig. 2 is overall UWB hardware installation figure in parking lot of the present invention.
Fig. 3 is multiple target tracking location and client display parking stall condition diagram in parking lot of the present invention.
Fig. 4 is Multi-Targets Tracking and Positioning System structural drawing in parking lot of the present invention.
Fig. 5 is Multi-Targets Tracking and Positioning System schematic diagram in parking lot of the present invention.
Embodiment
Embodiment 1
As Fig. 1,2,3, in parking lot, Multi-Targets Tracking and Positioning System mainly contains 1 wireless synchronous control device, m*n platform wireless location base station, and vehicle body positioning label, seeks car label, inertial navigation module, portable power source module, wireless module; In positioning system, wireless location base station distribution in parking lot everywhere, locating base station be fixed with two kinds of patterns, can ceiling type Method for Installation, base station is fixed on the ceiling, also supporting mounting bracket can be used to be fixed on the sidewall of wall by base station, should be noted that the distance between two locating base station must not more than 30 meters, the setting height(from bottom) of locating base station should be greater than 2 meters, and be no less than 0.3 meter with the distance of wall, so both can improve positioning precision, the impact that signal reflects on wall can be avoided again; Wireless synchronous control device is arranged on side, wireless location base station, and height is identical with locating base station.With ruler, the length in whole parking lot and wide measurement are recorded, make one of them summit as true origin (0,0), determine the coordinate of all the other locating base station according to rectangular coordinate system, and keep a record.
As Fig. 1,2, before wireless location label Initialize installation, first positioning label (comprise vehicle body positioning label and seek car label) is placed on the position being not less than 1 meter high, recycling UWB debugging software, it is one group with 3 locating base station, carry out 4 delays to positioning label verify and preserve delayed data, complete the verification of a rectangular-shaped network.Be placed into by label in next rectangular-shaped locating base station network, carry out delay verification, concrete steps are identical with first time again.Then complete the verification of all rectangular-shaped base station networks successively, all positioning labels can come into operation.
As Fig. 3, automotive body positioning device is fixed with vehicle body positioning label, portable power source, wireless module and inertial navigation module; Wherein vehicle body positioning label can send a signal to wireless location base station, wireless location base station passes the signal to wireless synchronous control device, arrive the measuring method of poor (TDOA) service time, calculate the coordinate position residing for vehicle body positioning label, again data are transferred to master system by wireless router, by the concrete coordinate position of master system determination vehicle body positioning label; Inertial navigation module is powered by portable power source, sends attitude data and be sent to master system by wireless module according to displacement state.Upper computer software process data also obtain the attitude information of vehicle residing for current inertial navigation module, then send to mobile client.
Concrete mode of operation is as follows:
1, the assembling of UWB positioning system and setting: by astronomical cycle below Reader, and be screwed, composition wireless location base station; By regulating the toggle switch of locating base station, the IP address of m*n base station is set to 192.168.0.1,192.168.0.2 respectively ... 192.168.0.255 the arbitrary address between except 192.168.0.8.Again the IP address of wireless synchronous control device is set to 192.168.0.8.Wireless location base station is arranged in parking lot according to such as Fig. 1 is rectangular-shaped, wireless location base station is installed with the direction of antennas orthogonal, registration can be made like this, ceiling type Method for Installation can be adopted to be installed on the ceiling base station, also supporting mounting bracket can be adopted to be fixed on the sidewall of wall by base station, should be noted that the distance between two locating base station must not more than 30 meters, the setting height(from bottom) of locating base station should be greater than 2 meters, and is no less than 0.3 meter with the distance of wall.Wireless synchronous control device is arranged on side, parking garage, to receive the data of other base stations simultaneously.
2, the setting of router: the LAN mouth IP address of router is set to 192.168.0.8, and wireless router is connected by netting twine with wireless synchronous control device, makes master system get label information.
Selecting 3, between the positioning area of parking garage: in parking lot, using a locating base station as true origin (0,0) base station in the upper left corner, can be selected as (0,0), the quantity of locating base station is used to determine the two-dimensional coordinate (X12 of all the other locating base station according to rectangular coordinate system principle and actual parking lot, Y12), (X13, Y13) ... (Xmn, Ymn), and be recorded in database, match with parking lot electronic chart.
4, the Initialize installation of positioning label: label (comprise vehicle body positioning label with seek car label) is placed in first square network formed with 4 base stations as Fig. 1-2, according to rectangular coordinate system determination tag coordinate (X, Y), and place height be not less than 1 meter.Use the debugging of UWB debugging software, first " setting of Reader coordinate system " hurdle is set, by the numbering (1 ~ 4) of 4 wireless base stations, IP address, coordinate information mixes up by arranging before, point " preservation "; Then " Reader time delay setting " hurdle is set, " two-dimensional calibration " " tag number " " tag coordinate " " Reader_ip " " time zero-bit " is set on request, wherein to divide into groups by locating area to whole wireless base station, and synchronizing relay verification is carried out to the wireless base station of each locating area.The wireless base station choosing in one group of wireless base station of verification one is set to time reference, carries out 4 time delay calibrations respectively.As first by wireless base station 1,2,3 composition verification groups, one group, three wireless base stations are tested, open delay test function in engine of positioning software, just automatically can calculate the time delay corrected parameter of other two wireless base stations, and time delay corrected parameter is set in the corrected parameter of respective wireless base station in engine of positioning software systems.Afterwards again with wireless base station 1,2,4 is one group, wireless base station 1,3,4 is one group, wireless base station 2,3,4 are one group carries out aforesaid operations acquisition time delay corrected parameter respectively, is placed into by label in the next square network be made up of 4 base stations again, the step before still performing after completing, until complete the location of last rectangular-shaped network, namely represent that positioning label initialization completes.
5, inertial navigation software debugging: software is opened, baud rate is set to iptimum speed according to actual conditions.
6, automotive body positioning device and seek the setting of car label: the above-mentioned label having completed Initialize installation is divided into two groups, and a group is used for vehicle body positioning label, and another group is used for seeking car label, and is matched one by one by two groups of labels, keeps a record in a database.Then by vehicle body positioning label, inertial navigation module, portable power source module, wireless module is fixed together and makes locating device, and portable power source is that inertial navigation module and wireless module are powered.Using automotive body positioning device with corresponding car label of seeking as one group, during use as set of device pairing use.
7, when vehicle is near Entrance, access management device can export a set of automotive body positioning device to car owner and seek car label.Automotive body positioning device is fixed on roof, seeks car label and then carry with.Access management device can by tag number simultaneously, and license plate number, the information records such as entry time are also saved in database, match with electronic chart.Due in parking lot, UWB locating device and inertial navigation module can detect position and the attitude information of vehicle respectively, therefore user only need use mobile client to download parking lot map, just can obtaining from host computer server the direction and position that the vacant parking space information in parking lot and vehicle now travel, during parking, not visible state can be set to by seeking car label.
8, when user needs to leave parking lot, can reuse client, arranging and seeking car label is visibility status, just can obtain the Distance geometry route now between user and vehicle.
9, when vehicle leaves parking lot, locating device is put back to access management device place with seeking together with car label.
As Fig. 4, parking garage electronic chart is comprised road information and parking space information is stored in database server, when vehicle sail into parking lot or parking stall have a car time, parking position information of park and vehicle running state can be sent to mobile client by server in real time, select best parking stall for user.Parking lot management personnel also can obtain parking condition in field simultaneously, so that better managing parking field.
As Fig. 5, in inertial navigation, accelerometer exports as speed increment, and gyroscope exports as angle increment, can obtain attitude and positional information by attitude algorithm and navigation calculation.But owing to there is integral error in solution process, so need the vehicle position data phase fusion calculation obtained with UWB positioning system, real time position and the attitude information of moving vehicle is calculated according to specific blending algorithm, by this account form, comparatively accurate motion track can be obtained, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, accurately can obtain particular location and the attitude information of moving vehicle.And then match with parking lot electronic chart, use mobile client to obtain parking lot free parking space information and route map from server.Simultaneously user also can utilize and seek relative position between car label and vehicle body positioning label to find vehicle, can save the many time and efforts of user like this, solve the problem of " parking difficulty ", " seeking car difficulty " simultaneously.
Although the present invention with preferred embodiment openly as above; but it is also not used to limit the present invention, any person skilled in the art, without departing from the spirit and scope of the present invention; all can do various changes and modification, what therefore protection scope of the present invention should define with claims is as the criterion.
Claims (9)
1. a parking garage Multi-Targets Tracking and Positioning System, is characterized in that: comprise access management device, automotive body positioning device, UWB positioning system, master system; Described UWB positioning system comprises wireless synchronous control device and wireless location base station; Described access management device is provided automotive body positioning device and is sought car label, and described automotive body positioning device comprises vehicle body positioning label, inertial navigation module, wireless module, portable power source module; The data that described inertial navigation module exports are sent on master system by wireless module, are obtained the attitude data of target object by master system; Vehicle body positioning label sends data to wireless location base station simultaneously, and wireless location base station sends data to wireless synchronous control device by wireless channel; The position data of wireless synchronous control device is obtained by master system; Position and attitude information by fusion computing and in conjunction with parking lot electronic chart determination vehicle body particular location and body gesture information, then is sent to mobile client by master system.
2. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described UWB positioning system is LINK UWB Wireless Networking positioning system.
3. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described inertial navigation module model is AH100B.
4. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, be characterised in that, the position data that described master system obtains wireless synchronous control device realizes based on wireless synchronous control device, wireless location base station, vehicle body positioning label, wireless router; Described vehicle body positioning label sends UWB signal to wireless location base station, and data are transferred to wireless synchronous control device by wireless channel by wireless location base station, and positioning precision reaches 10cm; Wireless synchronous control device transfers data to master system by wireless router, uses master system to carry out Initialize installation to positioning system, and adopts signal arrival time difference TDOA measuring technique, determine the position data of target object.
5. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, the attitude data that described master system obtains target object realizes based on inertial navigation module, wireless module, portable power source module; Described wireless module software kit sets, and baud rate is identical with inertial navigation module, wireless module adopts portable power source to power, make to be connected on inertial navigation module on automotive body positioning device and wireless module all obtains power supply, the data that inertial navigation module exports are sent on master system by a pair wireless module, are obtained the 3 d pose data of target object by master system.
6. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, be characterised in that, the fusion computing of described master system is resolved based on carrying out dynamic weighting algorithm to data, obtain accurate motion track in this way, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, accurately obtains particular location and the attitude information of moving target.
7. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, be characterised in that, described vehicle body positioning label, seek car label two labels and be set to one group, represent with different colours respectively in map, user only need arrange the position that client shows 2 labels, just can obtain the direction range information between parking spot and user.
8., according to the arbitrary described a kind of parking garage Multi-Targets Tracking and Positioning System of claim 1-7, it is characterized in that, the present invention specifically comprises the following steps:
Step 1) master system pre-installed supporting positioning software and loaded the overall map of this parking garage, and deposited this parking position information of park in database server;
Step 2) m*n platform wireless location base station is arranged on parking garage everywhere, and spacing≤30 meter of every two wireless location base stations; Described wireless location base station adopts ceiling type peace robin or adopts supporting mounting bracket to be fixed on the sidewall of wall by base station; Wireless location base station will keep the distance of > 0.3 meter with corner, avoids signal to launch on metope;
Step 3) wireless synchronous control device is placed in parking lot, described wireless synchronous control device and wireless location base station all will be placed on the height of overhead >=2 meters, and IP address, wireless location base station is set to 192.168.0.1,192.168.0.2 ... 192.168.0.255 the arbitrary address between except 192.168.0.8; Wireless synchronous control device IP address is set to 192.168.0.8; The IP address of the LAN mouth of wireless router is set to 192.168.0.8, makes isochronous controller data can be sent to master system by wired or wireless mode;
Step 4) before the initialization of UWB positioning system by vehicle body positioning label with seek car label and be placed on >=position of 1 meter high, recycling UWB debugging software, be one group with 3 locating base station, 4 delays carried out to each positioning label and verifies and preserve delayed data, complete the verification of a rectangular-shaped network; Again each label is placed into successively in next rectangular-shaped locating base station network, carry out delay verification, concrete steps are identical with first time, then complete the verification of all rectangular-shaped base station networks successively, all vehicle body positioning labels and seek car tag location label and can come into operation;
Step 5) the above-mentioned label having completed Initialize installation is divided into two groups, one group is used for vehicle body positioning label, and another group is used for seeking car label, and is matched one by one by two groups of labels, keeps a record in a database; Then by vehicle body positioning label, inertial navigation module, portable power source module, wireless module is fixed together and makes automotive body positioning device, portable power source module is that inertial navigation module and wireless module are powered, using automotive body positioning device with corresponding car label of seeking as one group, during use as set of device pairing use;
Step 6) when vehicle is near Entrance, access management device can export a set of automotive body positioning device to car owner and seek car label, and automotive body positioning device is fixed on roof by car owner, seeks car label and then carries with; Simultaneously access management device can by tag number, license plate number, entry time information record be saved in database, match with electronic chart;
Step 7) enter in parking lot when vehicle, inertial navigation module on UWB positioning system and automotive body positioning device can detect position and the attitude information of vehicle respectively, the inertial navigation module be specially on automotive body positioning device sends body gesture data by wireless module, vehicle body positioning label sends UWB signal to wireless location base station simultaneously, and wireless location base station sends data to wireless synchronous control device by wireless channel; Then the attitude data in the position data of wireless synchronous control device and inertial navigation module is obtained by master system;
Step 8) after host computer gets the position data on wireless synchronous control device and the attitude data in inertial navigation module, phase fusion calculation is carried out to both data, obtains vehicle body particular location and attitude information;
Step 9) user only need use mobile client to download parking lot map, just can obtain from host computer server the direction and position that the vacant parking space information in parking lot and vehicle now travel;
Step 10) user is when needing to leave parking lot, and reuse mobile client, the position that client shows 2 labels only need be set, just can obtain the direction range information between parking spot and user.
9. a kind of parking garage according to claim 8 Multi-Targets Tracking and Positioning System, is characterised in that, describedly carries out fusion computing concrete steps to both data and is:
When using UWB system to carry out location, position, suppose (t-3) moment respectively, in (t-2) moment, in (t-1) moment, the output coordinate data of t are (X
1, Y
1), (X
2, Y
2), (X
3, Y
3), (X, Y), wherein t is current time,
Order:
Mul represents the multiple proportion of the position rate of adjacent three periods, when Mul more hour, the confidence level of UWB system location is higher; When Mul is greater than a certain threshold value θ, just can assert that this positioning result is invalid, the definition UWB positioning system Reliability factor is μ;
Wherein
When using inertial navigation module to position, due to the existence of its cumulative errors, therefore can suppose that, when inertial navigation location exceedes certain time interval T, its location confidence level is 0, definition inertial navigation module CF is ν, ν increase in time and reduces;
Wherein
Setting, when ν is lower than a certain threshold value, upgrades position and the attitude information of object, reclocking again;
Final positioning result is
wherein L
ufor the result of UWB system location, L
sfor the result of inertial navigation module location, because the output frequency of inertial navigation module is larger than the output frequency of UWB positioning system, therefore the sampling period of a UWB can be set, within this cycle, use inertial navigation to position, but in this sampling instant, use above formula mixing operation, as the initial position of location next time;
Repeat in this way, can obtain accurate motion track, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, can accurately obtain vehicle body particular location and attitude information.
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