CN104697517B - A kind of parking garage Multi-Targets Tracking and Positioning System - Google Patents
A kind of parking garage Multi-Targets Tracking and Positioning System Download PDFInfo
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- CN104697517B CN104697517B CN201510138256.3A CN201510138256A CN104697517B CN 104697517 B CN104697517 B CN 104697517B CN 201510138256 A CN201510138256 A CN 201510138256A CN 104697517 B CN104697517 B CN 104697517B
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
A kind of parking garage Multi-Targets Tracking and Positioning System, belongs to multiple target tracking positioning field；Including UWB alignment systems and automotive body positioning device, UWB alignment systems include wireless synchronous control device and wireless locating base station；Automotive body positioning device includes vehicle body positioning label, inertial navigation module, wireless module, portable power source module；The data of inertial navigation module output are sent on master system by wireless module；Vehicle body positions label and sends signal to wireless locating base station simultaneously, and wireless locating base station sends data to wireless synchronous control device；Wireless synchronous control device sends a signal to host computer, by master system to obtain target position data and attitude data, then by fusion operation determines vehicle body particular location and attitude information, then send information to mobile client.This set combined type alignment system breaks through the conventional positioning method by environmental constraints, realizes the improvement in terms of spatiality, real-time, quantitative and accuracy.
Description
Technical field
The present invention relates to a kind of wireless location system, particularly a kind of position super wideband wireless mutually to tie with inertial navigation
Close, the tracing-positioning system of precision navigation can be provided in parking lot for multiple target vehicle, belong to multiple target tracking positioning field.
Background technology
With developing by leaps and bounds for China's economy, in recent years, the up growth of the owning amount of private car at double, user is to business
The demand of the parking in area, hospital, school etc. place greatly increases；Traditional middle-size and small-size parking lot can not meet masses
Demand, therefore the large-scale parking lot that many places are built, but because parking lot space is big, vehicle is more, direction is not easy to distinguish
Not, user can only drive a car turn-takes everywhere in parking lot, finds vacant position, and find when finishing thing and to leave parking lot
It is a troublesome thing again to the car of oneself；Large parking lot does not all provide the user the clothes of parking positioning generally at present
Business.
Because parking lot is in interior, radionavigation, GPS satellite navigation and celestial navigation etc. is required for by the external world
Strength, can not use indoors, so it is difficult to be accurately positioned in parking lot to vehicle, and part indoor navigation by
Positioning time, precision, scope and number of targets are restricted, therefore accurate parking lot multiple target tracking location technology turns into current society
The key technology solved can be badly in need of.Indoor positioning technologies conventional now have an infrared confirming orientation technology, inertial navigation location technology,
Wireless sensor network location technology, magnetic tracking.
Infrared confirming orientation technology is to receive to adjust from infrared ray IR identification transmissions using the optical sensor of installation indoors
What the infrared-ray of system was positioned；Although infrared-ray location technology has of a relatively high positioning precision, it is transmitted
Distance is shorter and is easily disturbed by the fluorescent lamp of interior or other light so that indoor locating effect is deteriorated.
Inertial navigation location technology is to connect firmly gyroscope and accelerometer on motion carrier, is being transported using mobile target
Itself existing inertia when dynamic, the course of mobile target, posture, speed and position are measured respectively.But because itself is present
Drift and scores accumulated error, cause long-time positional information error serious, and are without extraneous navigation in enclosed environment
The calibration of system, so inertial navigation positioning cannot be used alone.
Wireless sensor network location technology is by time of arrival (toa), signal arrival time difference, angle of arrival and connects
The position of the acquisitions such as signal intensity movement target is received, but due to the three-dimensional body that mobile target is space, is simplified to one
Individual barycenter body brings certain error to location Calculation, and cannot export the attitude information of object, so there is also defect.
Magnetic tracking is by establishing a kind of specific magnetic fields region and being believed using magnetic sensors to obtain magnetic field
Breath, join further according to the relation between the position coordinates system where acquired data calculating magnetic field inductor and reference frame
Number.But due to larger by electromagnetism or magnetic metal interference, system delay.
Want to obtain vehicle location and attitude information in the environment of parking lot, can not reach mesh just with above method
Mark.
So be badly in need of one kind under enclosed environment, can carry out the appearance of Multi-Targets Tracking and Positioning System to parking lot.Can
Effectively solve the problems, such as people in Parking.
The content of the invention
In order to realize the problem of vehicle can quickly find parking stall behind entrance parking lot, the present invention provides a kind of interior and stopped
Parking lot Multi-Targets Tracking and Positioning System, position and the attitude information of mobile vehicle are obtained with this Multi-Targets Tracking and Positioning System,
With the features such as easy to operate, data are accurate and real-time.
A kind of parking garage Multi-Targets Tracking and Positioning System of the present invention, it is characterised in that：Including access management
Device, automotive body positioning device, UWB alignment systems, master system；The UWB alignment systems include wireless synchronous control device and
Wireless locating base station；The access management device provides automotive body positioning device and seeks logo label, the automotive body positioning device bag
Include vehicle body positioning label, inertial navigation inertial navigation module, wireless module, portable power source module；The inertial navigation inertia is led
The data of model plane block output are sent on master system by wireless module, and the appearance of target object is obtained by master system
State data；Vehicle body positions label and sends signal to wireless locating base station simultaneously, and wireless locating base station is by wireless channel by data
Transmit to wireless synchronous control device；The position data of wireless synchronous control device is obtained by master system；Master system passes through
Fusion operation simultaneously combines the determination of parking lot electronic map now vehicle body particular location and body gesture information, then position and attitude is believed
Breath is sent to mobile client.
The present invention specifically includes following steps：
Step 1) master system has pre-installed supporting positioning software (Project Viewer) and has loaded this parking garage
Overall map, and this parking position information of park is deposited in database server；
M*n platforms wireless locating base station is arranged on parking garage everywhere by step 2), and every two wireless locating base stations
Between distance≤30 meter；The wireless locating base station is consolidated base station using ceiling type peace robin or using supporting mounting bracket
It is scheduled in the side wall of wall；Wireless locating base station will keep 0.3 meter of ＞ distance with corner, avoid signal from being sent out on metope
Penetrate；
Wireless synchronous control device is placed on the side of wireless locating base station by step 3), the wireless synchronous control device with it is wireless
Locating base station is intended to be placed on height from the ground >=2 meter, and wireless locating base station IP address is arranged into 192.168.0.1,
192.168.0.2 ... ... the arbitrary address between 192.168.0.255 in addition to 192.168.0.8；Wireless synchronous control device IP
Address is arranged to 192.168.0.8；Wireless synchronous control device transfers data to master system by wireless router, described
The IP address of the LAN mouths of wireless router is arranged to 192.168.0.8 so that isochronous controller data can pass through wired or nothing
Line mode is sent to master system；
First vehicle body to be positioned label before the initialization of step 4) UWB alignment systems and seek logo label and be placed on >=1 meter of high position
Put, recycle UWB debugging softwares, using 3 locating base stations as one group, 4 delays are carried out to positioning label and verifies and preserves delay
Data, complete the verification of a rectangular-shaped network；Label is placed into next rectangular-shaped locating base station network again, carried out
Delay verification, specific steps are identical with first time, are then sequentially completed the verification of all rectangular-shaped base station networks, vehicle body positioning mark
Signing and seek logo label can come into operation.
The above-mentioned label for having completed Initialize installation is divided into two groups by step 5), and one group is used for vehicle body positioning label, another
Group is used to seek logo label, and two groups of labels are matched one by one, is kept a record in database；Then vehicle body is positioned into label,
Inertial navigation, portable power source module, wireless module, which is fixed together, makes positioner, and portable power source is for inertial navigation module and wirelessly
Module for power supply, using automotive body positioning device with corresponding logo label of seeking as one group, used when using as set of device pairing.
For step 6) when vehicle is close to Entrance, access management device can export a set of vehicle body positioning dress to car owner
Logo label are put and seek, automotive body positioning device is fixed on roof by car owner, is sought logo label and is then carried with；Access management dress simultaneously
Meeting is put by information records such as tag number, license plate number, entry times and is saved in database, is matched with electronic map；
For step 7) in parking lot, UWB alignment systems and inertial navigation module can detect position and the appearance of vehicle respectively
State information, the inertial navigation module specially on automotive body positioning device send body gesture data, while car by wireless module
Body positions label and sends UWB signal to wireless locating base station, and wireless locating base station is sent data to wirelessly by wireless channel
Isochronous controller；Then the posture in the position data and inertial navigation module of wireless synchronous control device is obtained by master system
Data；
After step 8) host computer gets the attitude data in position data and inertial navigation on wireless synchronous control device,
Both data are carried out to blend calculating, obtain vehicle body particular location and attitude information.
Step 9) user need to only use mobile client to download parking lot map, can be stopped at host computer server
The direction and position that the vacant parking space information in parking lot and vehicle now travel, logo label can will be sought during parking and are arranged to not visible
State.
When step 10) user needs to leave parking lot, mobile client can be reused, need to only set client to show
The position of 2 labels, with regard to the direction range information between parking spot and user can be obtained.
Fusion operation is carried out to both data described in step 8) and specifically formulates following targeting scheme：
The displacement of inertial navigation module is got with after attitude data and the position coordinate data of UWB alignment systems, utilizing
Reliability carries out dynamic weighting fusion to them, obtains final alignment by union data.
When carrying out position positioning using UWB systems, it is assumed that (t-3) moment, (t-2) moment, (t-1) moment, during t
The output coordinate data at quarter are (X1,Y1), (X2,Y2), (X3,Y3), (X, Y).Wherein t is current time.
Order：
Mul represents the multiple proportion of the position rate of adjacent three time, and when Mul is smaller, what UWB systems positioned can
Reliability is higher；When Mul is more than a certain threshold θ, so that it may assert that the positioning result is invalid.Define UWB alignment system Reliabilities
The factor is μ.
Wherein
When being positioned using inertial navigation inertial navigation module, due to the presence of its accumulated error, therefore it may be assumed that and work as
The positioning of inertial navigation inertial navigation exceedes certain time interval T, and it is 0 that it, which positions confidence level,.Defining inertial navigation inertial navigation module can
Belief factor is ν.ν reduces with the increase of time.
Wherein
Setting updates position and the attitude information of object, reclocking again when ν is less than a certain threshold value.
Final positioning result isWherein LUFor the result of UWB systems positioning, LSFor inertia
The result of navigation module positioning.Because the output frequency of inertial navigation module is bigger than the output frequency of UWB alignment system, therefore can be with
UWB sampling period is set, is positioned within this cycle using inertial navigation, but using upper in this sampling instant
Formula mixing operation, the initial position as positioning next time.
Repeat in this way, more accurate motion track can be obtained, improve the positioning precision of mobile object, form two
The mutual supplement with each other's advantages of person, vehicle body particular location and attitude information can be accurately obtained.
The UWB alignment systems are LINKUWB Wireless Networking high-accuracy position systems, fixed using being solved completely without line technology
The technical barriers such as position data transfer, network synchronous control, tag location scheduling, there is provided great networking flexibility and engineering
Convenience.
Described inertial navigation module model AH100B, it is a high performance AHRS (miniature attitude heading reference system),
The equipment fusion kalman filtering, exports real-time attitude data by gathering the data of sensor.
The position data that the master system obtains wireless synchronous control device is to be based on wireless synchronous control device, wirelessly determine
Position base station, vehicle body positioning label, wireless router are realized；The vehicle body positions label and sends UWB to wireless locating base station
Data are transmitted to wireless synchronous control device, positioning precision and are up to 10cm by signal, wireless locating base station by wireless channel；Wirelessly
Isochronous controller transfers data to master system by wireless router, and alignment system is carried out just using master system
Beginningization is set, and uses signal arrival time difference (TDOA) e measurement technology, to determine the position data of target object.
The master system come obtain the attitude data of target object be based on inertial navigation module, wireless module, shifting
Dynamic power module is realized；The wireless module is set with specific software (X-CTU softwares), and baud rate is wanted and inertia
Navigation module is identical, and wireless module is powered using portable power source so that be connected on inertial navigation module on automotive body positioning device with
Wireless module all obtains power supply, and the data of inertial navigation module output are sent on master system by a pair of wireless modules,
The 3 d pose data of target object are obtained by master system.
Accelerometer output is speed increment in the inertial navigation, and gyroscope output is angle increment, passes through attitude algorithm
Posture and positional information can be obtained with navigation calculation；But due to integral error be present in solution process, so needing to determine with UWB
The vehicle position data that position system obtains blends calculating.
The fusion operation of the master system is to be based on carrying out dynamic weighting algorithm resolving to data, in this way can be with
More accurate motion track is obtained, the positioning precision of mobile object is improved, forms the mutual supplement with each other's advantages of the two, can be accurately obtained
The particular location and attitude information of mobile vehicle.
The determination of vehicle body position is based on vehicle body positioning label when the user seeks car, seeks logo label to realize；It is described
Two labels are arranged to one group, are represented respectively with different colours in map, and user need to only set client to show 2 labels
Position, with regard to the direction range information between parking spot and user can be obtained.
Beneficial effects of the present invention are：
1. the present invention uses UWB technology and inertial navigation technology, without external force, can be realized in large parking lot pair
The position of multiple mobile vehicles carries out accurate monitoring in real time with posture, accurately finds the parking stall of free time.
2. the present invention carries out Wireless transceiver using wireless module to data, the flexibility in monitoring place is realized, it is easy to operate
Fast.
3. positioning precision of the present invention is high, energy consumption is low, and signaling channel can be set, and effectively avoids co-channel interference and flexible for installation,
Suitable for being difficult to lay the complex environment of circuit and building the application of alignment system temporarily.
4. this set parking garage Multi-Targets Tracking and Positioning System breaks through the conventional positioning method by environmental constraints, realize
In spatiality, real-time, the vast improvement in terms of quantitative and accuracy, while solve asking for " parking difficulty " " seeking car hardly possible "
Topic.
5. algorithm of the present invention can obtain more accurate motion track, the positioning accurate of mobile object is improved
Degree, forms the mutual supplement with each other's advantages of the two, can be accurately obtained vehicle body particular location and attitude information.
Brief description of the drawings
Fig. 1 is the simpler hardware orientation diagram of UWB alignment systems.
Fig. 2 is overall UWB hardware installations figure in parking lot of the invention.
Fig. 3 is that multiple target tracking positioning and client show parking stall condition diagram in parking lot of the invention.
Fig. 4 is Multi-Targets Tracking and Positioning System structure chart in parking lot of the invention.
Fig. 5 is Multi-Targets Tracking and Positioning System schematic diagram in parking lot of the invention.
Embodiment
Embodiment 1
Such as Fig. 1,2,3, Multi-Targets Tracking and Positioning System mainly has 1 wireless synchronous control device in parking lot, and m*n platforms are wireless
Locating base station, vehicle body positioning label, seeks logo label, inertial navigation module, portable power source module, wireless module；In alignment system
In, wireless locating base station is distributed in parking lot everywhere, and locating base station is fixed with both of which, can be with ceiling type Method for Installation, will
Base station is fixed on the ceiling, base station can also be fixed in the side wall of wall using supporting mounting bracket, be should be noted two
Distance between locating base station must not exceed 30 meters, and the setting height(from bottom) of locating base station should be more than 2 meters, and many with the distance of wall
In 0.3 meter, positioning precision so can be both improved, the influence that signal can be avoided to be reflected on wall again；Wireless synchronous control
Device is arranged on beside wireless locating base station, highly identical with locating base station.The length in whole parking lot is surveyed with wide with ruler
Measure and record, make one of summit determine remaining locating base station according to rectangular coordinate system as the origin of coordinates (0,0)
Coordinate, and keep a record.
Such as Fig. 1,2, before wireless location label Initialize installation, positioning label (including vehicle body positioning label and is first sought into car
Label) position high not less than 1 meter is placed on, UWB debugging softwares are recycled, using 3 locating base stations as one group, positioning label is entered
4 delays of row verify and preserve delayed data, complete the verification of a rectangular-shaped network.Label is placed into next rectangle again
In the locating base station network of shape, delay verification is carried out, specific steps are the same as identical for the first time.Then all rectangular-shaped bases are sequentially completed
Stand the verification of network, all positioning labels can come into operation.
Such as Fig. 3, vehicle body positioning label, portable power source, wireless module and inertial navigation are fixed with automotive body positioning device
Module；Wherein vehicle body positioning label can send a signal to wireless locating base station, and wireless locating base station passes the signal to wirelessly
Isochronous controller, usage time reach the measuring method of poor (TDOA), calculate the coordinate position residing for vehicle body positioning label, then
Data are transferred to master system by wireless router, the specific coordinate bit of vehicle body positioning label is determined by master system
Put；Inertial navigation module is powered by portable power source, is sent attitude data according to displacement state and is sent by wireless module
To master system.Upper computer software processing data and the attitude information for obtaining vehicle residing for current inertial navigation module, then
It is sent to mobile client.
Specific mode of operation is as follows：
1st, the assembling and setting of UWB alignment systems：Antenna is arranged on below Reader, and is screwed, is formed
Wireless locating base station；By adjusting the toggle switch of locating base station, the IP address of m*n base station is respectively set to
192.168.0.1, the arbitrary address between 192.168.0.2 ... ... 192.168.0.255 in addition to 192.168.0.8.Again
The IP address of wireless synchronous control device is arranged to 192.168.0.8.Wireless locating base station is stopped according to rectangular-shaped are arranged on of such as Fig. 1
In parking lot, wireless locating base station is installed with the direction of antennas orthogonal, can so be caused registration, can be used ceiling
Formula Method for Installation is ceiling mounted by base station, base station can be also fixed in the side wall of wall using supporting mounting bracket,
It should be noted that the distance between two locating base stations must not exceed 30 meters, the setting height(from bottom) of locating base station should be more than 2 meters, and and wall
Distance be no less than 0.3 meter.Wireless synchronous control device is arranged on beside parking garage simultaneously, to receive other bases
The data stood.
2nd, the setting of router：The LAN mouth IP address of router is arranged to 192.168.0.8, wireless router and nothing
Line locking controller is connected by netting twine so that master system gets label information.
3rd, parking garage positioning section is selected：In parking lot, using a locating base station as the origin of coordinates (0,
0) base station in the upper left corner, can be selected to be used as (0,0), locating base station is used according to rectangular coordinate system principle and actual parking lot
Quantity determines the two-dimensional coordinate (X12, Y12) of remaining locating base station, (X13, Y13) ... (Xmn, Ymn), and recorded database
In, match with parking lot electronic map.
4th, the Initialize installation of label is positioned：Label (including vehicle body positioning label is with seeking logo label) is placed on first
Such as Fig. 1-2 in the rectangular net formed with 4 base stations, tag coordinate (X, Y), and the height placed are determined according to rectangular coordinate system
Degree is not less than 1 meter.Debugged using UWB debugging softwares, " setting of Reader coordinate systems " column is first set, by 4 wireless base stations
Number (1~4), IP address, coordinate information is mixed up by setting before, point " preservation "；" Reader delays are set " one is then set
Column, " two-dimensional calibration " " tag number " " tag coordinate " " Reader_ip " " time zero-bit " is set on request, wherein will be to whole nothings
Line base station is grouped by localization region, and synchronizes time delay calibration to the wireless base station of each localization region.Choose verification
The wireless base station of one is set to time reference in one group of wireless base station, carries out 4 time delay calibrations respectively.As first by wireless base station 1,
2,3 composition verification groups, three one group of wireless base stations are tested, and open delay test function in engine of positioning software, it is possible to
Automatically the delay corrected parameter of other two wireless base stations is calculated, and delay corrected parameter is arranged to engine of positioning software system
In system in the corrected parameter of respective wireless base station.Afterwards again with wireless base station 1,2,4 for one group, wireless base station 1,3,4 is one group,
Wireless base station 2,3,4 be one group carry out respectively aforesaid operations obtain delay corrected parameter, after the completion of label is placed into again it is next
In the individual rectangular net being made up of 4 base stations, still perform before the step of, until completing last rectangular-shaped network
Positioning, that is, represent that positioning label initialization is completed.
5th, inertial navigation software debugging：Software is opened, baud rate is arranged to iptimum speed according to actual conditions.
6th, setting of the automotive body positioning device with seeking logo label：The above-mentioned label for having completed Initialize installation is divided into two groups,
One group is used for vehicle body positioning label, and another group is used to seek logo label, and two groups of labels are matched one by one, is done in database
Record.Then vehicle body is positioned into label, inertial navigation module, portable power source module, wireless module, which is fixed together, makes positioning
Device, portable power source are that inertial navigation module and wireless module are powered.Using automotive body positioning device with corresponding logo label of seeking as one group, make
Used time matches as set of device and used.
7th, when vehicle is close to Entrance, access management device can be exported a set of automotive body positioning device to car owner and
Seek logo label.Automotive body positioning device is fixed on roof, logo label is sought and then carries with.Access management device will can be marked simultaneously
The information records such as sign, license plate number, entry time are simultaneously saved in database, are matched with electronic map.Due in parking lot
In, UWB positioners and inertial navigation module can detect position and the attitude information of vehicle respectively, therefore user need to only use and move
Dynamic client downloads parking lot map, can be obtained at host computer server the vacant parking space information in parking lot and vehicle this
When the direction and position that travel, can will seek logo label during parking and be arranged to not visible state.
8th, when user needs to leave parking lot, client can be reused, it is visibility status that logo label are sought in setting,
Obtain now the distance between user and vehicle and route.
9th, when vehicle leaves parking lot, positioner is put back at access management device with seeking together with logo label.
Such as Fig. 4, parking garage electronic map is included into road information and parking space information storage into database server,
When vehicle drives into parking lot or there is car on parking stall, server can be real-time by parking position information of park and vehicle running state
Mobile client is sent to, for selection by the user optimal parking stall.Parking lot management personnel can also obtain in field and stop simultaneously
Situation, so as to more preferable managing parking field.
Such as Fig. 5, accelerometer output be speed increment in inertial navigation, and it is angle increment that gyroscope, which exports, passes through posture solution
Calculation and navigation calculation can obtain posture and positional information.But due to integral error be present in solution process, so needs and UWB
The vehicle position data that alignment system obtains blends calculating, and the real-time position of mobile vehicle is calculated according to specific blending algorithm
Put and attitude information, by this calculation, more accurate motion track can be obtained, improve the positioning precision of mobile object,
The mutual supplement with each other's advantages of the two is formed, the particular location and attitude information of mobile vehicle can be accurately obtained.Then it is electric with parking lot again
Sub- map matches, and parking lot free parking space information and route map are obtained from server using mobile client.User simultaneously
Vehicle can also be found using the relative position sought between logo label and vehicle body positioning label, so can save user it is many when
Between and energy, while solve the problems, such as " parking difficulty ", " seek car hardly possible ".
Although the present invention is disclosed as above with preferred embodiment, it is not limited to the present invention, any to be familiar with this skill
The people of art, without departing from the spirit and scope of the present invention, it can all do various change and modification, therefore the protection model of the present invention
Enclose being defined of being defined by claims.
Claims (7)
- A kind of 1. parking garage Multi-Targets Tracking and Positioning System, it is characterised in that：Positioned including access management device, vehicle body Device, UWB alignment systems, master system；The UWB alignment systems include wireless synchronous control device and wireless locating base station； The access management device provides automotive body positioning device and seeks logo label, and the automotive body positioning device includes vehicle body positioning mark Label, inertial navigation module, wireless module, portable power source module；The data of the inertial navigation module output pass through wireless module It is sent on master system, the attitude data of target object is obtained by master system；Vehicle body positions label to nothing simultaneously Line locating base station sends data, and wireless locating base station sends data to wireless synchronous control device by wireless channel；By upper Machine system obtains the position data of wireless synchronous control device；Master system is by fusion operation and combines parking lot electronic map Vehicle body particular location and body gesture information are determined, then position and attitude information is sent to mobile client；The UWB positioning system Unite as LINK UWB Wireless Networking alignment systems；Described inertial navigation module model AH100B.
- 2. a kind of parking garage Multi-Targets Tracking and Positioning System according to claim 1, is characterised by, the host computer The position data that system obtains wireless synchronous control device is based on wireless synchronous control device, wireless locating base station, vehicle body positioning mark Label, wireless router are realized；The vehicle body positions label and sends UWB signal, wireless locating base station to wireless locating base station Data are transmitted to wireless synchronous control device, positioning precision by wireless channel and reach 10cm；Wireless synchronous control device passes through wireless Router transfers data to master system, and Initialize installation is carried out to alignment system using master system, and using letter Number reaching time-difference TDOA e measurement technologies, to determine the position data of target object.
- 3. a kind of parking garage Multi-Targets Tracking and Positioning System according to claim 1, is characterised by, the host computer The attitude data that system obtains target object is realized based on inertial navigation module, wireless module, portable power source module；Institute Wireless module is stated to be set with software kit, and baud rate is identical with inertial navigation module, and wireless module is using mobile electricity Source powers so that the inertial navigation module and wireless module being connected on automotive body positioning device all obtain power supply, inertial navigation module The data of output are sent on master system by a pair of wireless modules, and the three-dimensional of target object is obtained by master system Attitude data.
- 4. a kind of parking garage Multi-Targets Tracking and Positioning System according to claim 1, is characterised by, the host computer The fusion operation of system is to be based on carrying out dynamic weighting algorithm resolving to data, obtains accurate motion track in this way, carries The positioning precision of high mobile object, the mutual supplement with each other's advantages of the two is formed, be accurately obtained the particular location and attitude information of mobile target.
- 5. a kind of parking garage Multi-Targets Tracking and Positioning System according to claim 1, is characterised by, the vehicle body is determined Position label, seeks two labels of logo label and is arranged to one group, represented respectively with different colours in map, user need to only set visitor Family end shows the position of 2 labels, with regard to that can obtain the direction range information between parking spot and user.
- 6. according to a kind of any described parking garage Multi-Targets Tracking and Positioning Systems of claim 1-5, it is characterised in that this Invention specifically includes following steps：Step 1) master system has pre-installed supporting positioning software and has loaded the overall map of this parking garage, and in data This parking position information of park is deposited in the server of storehouse；M*n platforms wireless locating base station is arranged on parking garage everywhere by step 2), and between every two wireless locating base stations ≤ 30 meters of distance；Base station is fixed on by the wireless locating base station using ceiling type peace robin or using supporting mounting bracket In the side wall of wall；Wireless locating base station will keep 0.3 meter of ＞ distance with corner, avoid signal from launching on metope；Wireless synchronous control device is placed in parking lot by step 3), and the wireless synchronous control device is intended to put with wireless locating base station In height from the ground >=2 meter, and wireless locating base station IP address is arranged to 192.168.0.1,192.168.0.2 ... ... 192.168.0.255 the arbitrary address between in addition to 192.168.0.8；Wireless synchronous control device IP address is arranged to 192.168.0.8；The IP address of the LAN mouths of wireless router is arranged to 192.168.0.8 so that isochronous controller data can Master system is sent to by wired or wireless way；Vehicle body is positioned label and seeks logo label before the initialization of step 4) UWB alignment systems and is placed on >=1 meter of high position, is recycled UWB debugging softwares, using 3 locating base stations as one group, 4 delays are carried out to each positioning label and verifies and preserves delayed data, Complete the verification of a rectangular-shaped network；Each label is sequentially placed in next rectangular-shaped locating base station network again, Delay verification is carried out, specific steps are identical with first time, are then sequentially completed the verification of all rectangular-shaped base station networks, Suo Youche Body positions label and seeks car tag location label and can come into operation；The above-mentioned label for having completed Initialize installation is divided into two groups by step 5), and one group is used for vehicle body positioning label, another group of use In seeking logo label, and two groups of labels are matched one by one, kept a record in database；Then vehicle body is positioned into label, inertia Navigation module, portable power source module, wireless module, which is fixed together, makes automotive body positioning device, and portable power source module is led for inertia Model plane block and wireless module power supply, using automotive body positioning device with corresponding logo label of seeking as one group, as set of device when using Pairing uses；Step 6) when vehicle is close to Entrance, access management device can be exported a set of automotive body positioning device to car owner and Logo label are sought, automotive body positioning device is fixed on roof by car owner, is sought logo label and is then carried with；Access management device meeting simultaneously By tag number, license plate number, entry time information record is simultaneously saved in database, is matched with electronic map；Step 7) enters in parking lot when vehicle, and the inertial navigation module in UWB alignment systems and automotive body positioning device can be distinguished Position and the attitude information of vehicle are detected, the inertial navigation module specially on automotive body positioning device is sent by wireless module Body gesture data, while vehicle body positions label and sends UWB signal to wireless locating base station, wireless locating base station passes through wireless communication Road sends data to wireless synchronous control device；Then the position data of wireless synchronous control device is obtained by master system and be used to Attitude data on property navigation module；After step 8) host computer gets the attitude data in position data and inertial navigation module on wireless synchronous control device, Both data are carried out to blend calculating, obtain vehicle body particular location and attitude information；Step 9) user need to only use mobile client to download parking lot map, can obtain parking lot at host computer server The direction and position that vacant parking space information and vehicle now travel；When step 10) user needs to leave parking lot, mobile client is reused, only client need to be set to show 2 labels Position, with regard to the direction range information between parking spot and user can be obtained.
- 7. a kind of parking garage Multi-Targets Tracking and Positioning System according to claim 6, is characterised by, described to both Data carry out fusion operation and concretely comprised the following steps：When carrying out position positioning using UWB systems, it is assumed that (t-3) moment, (t-2) moment, (t-1) moment, t Output coordinate data are (X1,Y1), (X2,Y2), (X3,Y3), (X, Y), wherein t are current time,Order：Mul represents the multiple proportion of the position rate of adjacent three time, when Mul is smaller, the confidence level of UWB systems positioning It is higher；When Mul is more than a certain threshold θ, so that it may assert that the positioning result is invalid, define the UWB alignment system Reliability factors For μ；Wherein<mrow> <mi>&mu;</mi> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>I</mi> <mo>-</mo> <mfrac> <mrow> <mi>M</mi> <mi>u</mi> <mi>l</mi> </mrow> <mi>&theta;</mi> </mfrac> </mrow> </mtd> <mtd> <mrow> <mi>M</mi> <mi>u</mi> <mi>l</mi> <mo><</mo> <mi>&theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>M</mi> <mi>u</mi> <mi>l</mi> <mo>&GreaterEqual;</mo> <mi>&theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> 2When being positioned using inertial navigation module, due to the presence of its accumulated error, therefore may be assumed that when inertial navigation positions More than certain time interval T, it is 0 that it, which positions confidence level, and it is ν to define inertial navigation module confidence factor, and ν subtracts with the increase of time It is small；WhereinSetting updates position and the attitude information of object, reclocking again when ν is less than a certain threshold value；Final positioning result isWherein LUFor the result of UWB systems positioning, LSFor inertial navigation The result of module positioning, because the output frequency of inertial navigation module is bigger than the output frequency of UWB alignment system, therefore can set In one UWB sampling period, positioned using inertial navigation within this cycle, but melted in this sampling instant using above formula Closing operation, the initial position as positioning next time；Repeat in this way, accurate motion track can be obtained, improve the positioning precision of mobile object, form the advantage of the two Complementation, vehicle body particular location and attitude information can be accurately obtained.
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