CN105336206A - Vehicle positioning system and method for large-scale parking lot - Google Patents

Vehicle positioning system and method for large-scale parking lot Download PDF

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CN105336206A
CN105336206A CN201510559748.XA CN201510559748A CN105336206A CN 105336206 A CN105336206 A CN 105336206A CN 201510559748 A CN201510559748 A CN 201510559748A CN 105336206 A CN105336206 A CN 105336206A
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uwb
alignment sensor
uwb alignment
coordinate
positioning label
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CN105336206B (en
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张震宇
马宁
蔡炯炯
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Hangzhou Hongpu Technology Co ltd
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Zhejiang Lover Health Science and Technology Development Co Ltd
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Abstract

The invention discloses a vehicle positioning system and method for a large-scale parking lot. The system comprises a positioning device disposed on a vehicle, and an indication device carried by a user. The positioning device comprises a pedestal and an electric PTZ. The pedestal is provided with a lifter, and the top of the lifter is provided with a rotating mechanism. The rotating mechanism is provided with a first telescoping rod, and the pedestal is provided with a CPU, an electronic level meter, a first wireless communication module, a first electronic compass module, and a first UWB positioning sensor. The rotating mechanism is provided with a second UWB positioning sensor, and the front end of the first telescoping rod is provided with a third UWB positioning sensor. The indication device comprises a controller, a second wireless communication module, a UWB positioning label, a display screen, a key group, and a second electronic compass module. The system and method can help a car owner to quickly and accurately find the position of the vehicle, can guide the car owner to be able to quickly find the vehicle, and save the time and labor of the car owner.

Description

A kind of large parking lot Vehicle positioning system and localization method thereof
Technical field
The present invention relates to vehicle positioning technology field, particularly relate to a kind of large parking lot Vehicle positioning system and localization method thereof.
Background technology
Along with the fast development of urbanization, there is a large amount of MALL (Commercial Complex) in the big and medium-sized cities of recent year, these MALL are generally equipped with large-scale parking lot, and parking lot may have nearly thousands of parking stalls, and some is more than one deck also.Car owner is after parking in parking lot, and when give for change, which position the car that some people can forget oneself is specifically parked in.For giving car for change, car owner often spends a large amount of time and efforts.If there is the Vehicle positioning system of a kind of pocket, off-line type, car owner can be helped to lock the position of oneself vehicle accurately and rapidly, and guide in the process given for change, this will greatly improve the efficiency giving vehicle for change, saves the time and efforts of car owner.
Summary of the invention
The object of the invention is to overcome after car owner has forgotten the concrete parking spot of vehicle sometimes needs the cost plenty of time just can find automobile, especially in large parking lot, need the more technical matters of time and efforts of cost, provide a kind of large parking lot Vehicle positioning system and localization method thereof, it can help car owner to lock the position of vehicle fast and accurately, and give car owner guiding, enable car owner find the automobile of oneself fast, save the time and efforts of car owner.
In order to solve the problem, the present invention is achieved by the following technical solutions:
A kind of large parking lot Vehicle positioning system of the present invention, comprise the indicating device being arranged on locating device on automobile and user and carrying, the electric platform that described locating device comprises base and base can be driven to rotate up and down, described base is provided with lifter, the top of described lifter is provided with the rotating mechanism that can horizontally rotate, described rotating mechanism is provided with can the first expansion link of stretching motion in the horizontal direction, and described base is provided with CPU (central processing unit), electrolevel, first wireless communication module, first electrical compass module and a UWB alignment sensor, described rotating mechanism is provided with the 2nd UWB alignment sensor, described first expansion link front end is provided with the 3rd UWB alignment sensor, a described UWB alignment sensor is vertical with base with the line of the 2nd UWB alignment sensor, described 2nd UWB alignment sensor is parallel with base with the line of the 3rd UWB alignment sensor, and described indicating device comprises controller, second wireless communication module, UWB positioning label, display screen, button group and the second electrical compass module, described CPU (central processing unit) respectively with electric platform, lifter, rotating mechanism, first expansion link, electrolevel, first wireless communication module, first electrical compass module, one UWB alignment sensor, 2nd UWB alignment sensor and the 3rd UWB alignment sensor electrical connection, described controller respectively with the second wireless communication module, UWB positioning label, display screen, button group and the electrical connection of the second electrical compass module.
In the technical program, when user has forgotten the concrete parking spot of vehicle in large parking lot, start the indicating device work of carrying with, controller has sent positioning instruction by the second wireless communication module to locating device.
After locating device receives positioning instruction, CPU (central processing unit) first detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level.Then, CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, for Z axis positive dirction, set up XYZ three-dimensional cartesian coordinate system with direction straight up, the line of a UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length that the first expansion link extends setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, finally control rotating mechanism by the first expansion link along rotating clockwise 60 degree, obtain the coordinate of the 3rd UWB alignment sensor for (x3, y3, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.
CPU (central processing unit) is according to x, the value of y calculates the projection of UWB positioning label in the plane at X-axis and Y-axis place and points to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), and the coordinate figure of this angle value α and UWB positioning label is sent to indicating device.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, determine the sensing of the pointer of display screen display with the angle value α received according to the positive northern direction of earth magnetism, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.Controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the value of z, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance D, this distance D=-z, distance D is that positive number represents that automobile is above car owner, and distance D is that negative number representation automobile is below car owner.
As preferably, described indicating device also comprises voice output module, and described voice output module is electrically connected with controller.Voice output module can export voice message.
As preferably, indicating device also comprises infrared range-measurement system, and described infrared range-measurement system is electrically connected with controller.Car owner detects the height of parking lot one deck by the infrared range-measurement system on indicating device, and controller estimates the number of floor levels of being separated by between automobile and car owner according to distance D, for car owner's reference.
As preferably, described locating device is arranged on automobile top.
As preferably, described automobile top is also provided with the box body for placement positioning device, described box body open top, described opening part is provided with the cover plate that can move horizontally, described box body is provided with and cover plate can be driven to move horizontally the driving mechanism opening or closing box body, and described CPU (central processing unit) is electrically connected with driving mechanism.When not using, box body is closed, and protection objective device, during use, cover plate moves horizontally opens box body, and locating device is started working.
The localization method of a kind of large parking lot Vehicle positioning system of the present invention, comprises the following steps:
S1: start indicating device work, controller sends positioning instruction by the second wireless communication module to locating device;
S2: after locating device receives positioning instruction, CPU (central processing unit) detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level;
S3 CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, point to the direction of the 2nd UWB alignment sensor for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system;
S4: rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length that the first expansion link extends setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2then the angle value m that the first expansion link is rotated setting by rotating mechanism is controlled, 0 < m < 180, the coordinate obtaining the 3rd UWB alignment sensor is (x3, y3, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 1 ) 2
Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;
S5: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction, the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by locating device,
S6: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.
As preferably, x is obtained in described step S4, y, also following steps are performed: the first expansion link is rotated the angle value m of setting by central processing unit controls rotating mechanism again after the value of z, the coordinate obtaining the 3rd UWB alignment sensor is (x4, y4, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 4, obtain system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 1 ) 2
Obtain x, the value of y, z, then again the first expansion link is rotated the angle value m of setting, obtain new x, the value of y, z, circulation like this n time, be averaged all x values asked, all y values are averaged, and all z values are averaged, and the mean value obtained is the coordinate figure of UWB positioning label.
As preferably, described step S6 is further comprising the steps of: controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance.Make user understand the position relationship of the in the vertical direction between automobile and user, automobile and user are in same layer, or are positioned at user upper strata, or are positioned at user lower floor.
Substantial effect of the present invention is: car owner can be helped to lock the position of vehicle fast and accurately, and gives car owner guiding, enables car owner find the automobile of oneself fast, saves the time and efforts of car owner.
Accompanying drawing explanation
Fig. 1 is that a kind of circuit theory of the present invention connects block diagram;
Fig. 2 is a kind of structural representation of locating device;
Fig. 3 is the XYZ three-dimensional cartesian coordinate system set up for initial point with a UWB alignment sensor;
Fig. 4 is the structural representation of box body;
Fig. 5 is a kind of position relationship of a UWB alignment sensor and UWB positioning label;
Fig. 6 is a kind of position relationship of a UWB alignment sensor and UWB positioning label;
Fig. 7 is a kind of vertical view of locating device.
In figure: 1, locating device, 2, indicating device, 3, base, 4, electric platform, 5, lifter, 6, rotating mechanism, 7, first expansion link, 8, CPU (central processing unit), 9, electrolevel, 10, first wireless communication module, 11, first electrical compass module, 12, one UWB alignment sensor, 13, 2nd UWB alignment sensor, 14, 3rd UWB alignment sensor, 15, controller, 16, second wireless communication module, 17, UWB positioning label, 18, display screen, 19, button group, 20, second electrical compass module, 21, voice output module, 22, infrared range-measurement system, 23, box body, 24, cover plate, 25, driving mechanism, 26, second expansion link, 27, 4th UWB alignment sensor.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1: a kind of large parking lot Vehicle positioning system of the present embodiment, as Fig. 1, shown in Fig. 2, comprise the indicating device 2 that the locating device 1 that is arranged on automobile top and user carry, the electric platform 4 that locating device 1 comprises base 3 and base 3 can be driven to rotate up and down, base 3 is provided with lifter 5, the top of lifter 5 is provided with the rotating mechanism 6 that can horizontally rotate, rotating mechanism 6 is provided with can the first expansion link 7 of stretching motion in the horizontal direction, and base 3 is provided with CPU (central processing unit) 8, electrolevel 9, first wireless communication module 10, first electrical compass module 11 and a UWB alignment sensor 12, rotating mechanism 6 center is provided with the 2nd UWB alignment sensor 13, first expansion link 7 front end is provided with the 3rd UWB alignment sensor 14, one UWB alignment sensor 12 is vertical with base 3 with the line of the 2nd UWB alignment sensor 13, 2nd UWB alignment sensor 13 is parallel with base 3 with the line of the 3rd UWB alignment sensor 14, and indicating device 2 comprises controller 15, second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20, CPU (central processing unit) 8 respectively with electric platform 4, lifter 5, rotating mechanism 6, first expansion link 7, electrolevel 9, first wireless communication module 10, first electrical compass module 11, one UWB alignment sensor 12, 2nd UWB alignment sensor 13 and the 3rd UWB alignment sensor 14 are electrically connected, controller 15 respectively with the second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20 are electrically connected.
When user has forgotten the concrete parking spot of vehicle in large parking lot, start the indicating device work of carrying with, controller sends positioning instruction by the second wireless communication module to locating device, is sent with the UWB signal of self particular number to locating device by UWB positioning label.
After locating device receives positioning instruction, CPU (central processing unit) first detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level.Then, CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, X-axis positive dirction is oriented to after rotating clockwise 90 degree with Y-axis, for Z axis positive dirction, set up XYZ three-dimensional cartesian coordinate system with direction straight up, the line of a UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length that the first expansion link extends setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), by TOA method, one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, by TOA method, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, by TOA method, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, finally control rotating mechanism by the first expansion link along rotating clockwise 60 degree, obtain the coordinate of the 3rd UWB alignment sensor for (x3, y3, z1), by TOA method, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.
As shown in Figure 3, CPU (central processing unit) is according to x, the value of y calculates the projection of UWB positioning label in the plane at X-axis and Y-axis place and points to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), and the coordinate figure of this angle value α and UWB positioning label is sent to indicating device.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, determine the sensing of the pointer of display screen display with the angle value α received according to the positive northern direction of earth magnetism, display screen demonstrates pointer, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.Controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the value of z, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance D, this distance D=-z, distance D is that positive number represents that automobile is above car owner, distance D be negative number representation automobile below car owner, as D=20, represent automobile 20 meters of above car owner, D=-20, represents automobile 20 meters of below car owner.Controller also calculates indicating device and automobile air line distance in the horizontal plane according to the value of x, y, and display screen shows this distance.
Indicating device 2 also comprises voice output module 21 and infrared range-measurement system 22, and voice output module 21 and infrared range-measurement system 22 are electrically connected with controller 15 respectively.Voice output module can export voice message.Car owner detects the height of parking lot one deck by the infrared range-measurement system on indicating device, and controller estimates the number of floor levels of being separated by between automobile and car owner according to distance D, for car owner's reference.
As shown in Figure 4, automobile top is also provided with the box body 23 for placement positioning device 1, box body 23 open top, opening part is provided with the cover plate 24 that can move horizontally, box body 23 is provided with the driving mechanism 25 that cover plate 24 can be driven to move horizontally open or close box body 23, and CPU (central processing unit) 8 is electrically connected with driving mechanism 25.When not using, box body 23 is closed, protection objective device 1, and during use, cover plate 24 moves horizontally opens box body 23, and locating device 1 is started working.
The localization method of a kind of large parking lot Vehicle positioning system of the present embodiment, comprises the following steps:
S1: start indicating device work, controller sends positioning instruction by the second wireless communication module to locating device;
S2: after locating device receives positioning instruction, CPU (central processing unit) detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level;
S3: CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, XYZ three-dimensional cartesian coordinate system, for Z axis positive dirction, is set up in the direction (namely straight up direction) pointing to the 2nd UWB alignment sensor with a UWB alignment sensor;
S4: rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length that the first expansion link extends setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, then control rotating mechanism and the first expansion link is rotated clockwise 60 degree, obtain the coordinate of the 3rd UWB alignment sensor for (x3, y3, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 1 ) 2
Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;
S5: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of (namely on surface level) in the plane at X-axis and Y-axis place of UWB positioning label
Work as x=0, during y > 0, θ=0;
Work as x=0, during y < 0, θ=180;
As x > 0, y=0, θ=270;
As x < 0, y=0, θ=90;
As x > 0, y > 0, &theta; = 270 + a r c t g ( y x ) ;
As x < 0, y > 0, &theta; = a r c t g ( y - x ) ;
As x < 0, y < 0, &theta; = 90 + a r c t g ( y x ) ;
As x > 0, y < 0, &theta; = 180 + a r c t g ( - y x ) ;
Thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction; As shown in Figure 5, if θ < 180, then α=θ+180; As shown in Figure 6, if θ >=180, then α=θ-180; The coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by locating device; When a UWB alignment sensor point to the direction of the UWB positioning label projection in the plane at X-axis and Y-axis place and Y-axis positive dirction in the same way time, angle value θ=0, α=180;
S6: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α; When pointed earth magnetism direct north, angle value α=0; Controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance, user is made to understand the position relationship of the in the vertical direction between automobile and user, automobile and user are in same layer, or are positioned at user upper strata, or are positioned at user lower floor.
X is obtained in step S4, y, also following steps are performed: the first expansion link is rotated clockwise 45 degree by central processing unit controls rotating mechanism again after the value of z, the coordinate obtaining the 3rd UWB alignment sensor is (x4, y4, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 4, obtain system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 1 ) 2
Obtain x, the value of y, z, then again the first expansion link is rotated clockwise 45 degree, obtain new x, the value of y, z, so circulation 3 times, be averaged all x values asked, all y values are averaged, and all z values are averaged, and the mean value obtained is the coordinate figure of UWB positioning label.
Embodiment 2: a kind of large parking lot Vehicle positioning system of the present embodiment, as Fig. 1, Fig. 2, shown in Fig. 7, comprise the indicating device 2 that the locating device 1 that is arranged on automobile top and user carry, the electric platform 4 that locating device 1 comprises base 3 and base 3 can be driven to rotate up and down, base 3 is provided with lifter 5, the top of lifter 5 is provided with the rotating mechanism 6 that can horizontally rotate, rotating mechanism 6 be provided with can in the horizontal direction the first expansion link 7 of stretching motion and the second expansion link 26, first expansion link 7 and the second expansion link 26 perpendicular, base 3 is provided with CPU (central processing unit) 8, electrolevel 9, first wireless communication module 10, first electrical compass module 11 and a UWB alignment sensor 12, rotating mechanism 6 is provided with the 2nd UWB alignment sensor 13, first expansion link 7 front end is provided with the 3rd UWB alignment sensor 14, second expansion link 26 front end is provided with the 4th UWB alignment sensor 27, one UWB alignment sensor 12 is vertical with base 3 with the line of the 2nd UWB alignment sensor 13, 2nd UWB alignment sensor 13 is parallel with base 3 with the line of the 3rd UWB alignment sensor 14, 2nd UWB alignment sensor 13 is parallel with base 3 with the line of the 4th UWB alignment sensor 27, and indicating device 2 comprises controller 15, second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20, CPU (central processing unit) 8 respectively with electric platform 4, lifter 5, rotating mechanism 6, first expansion link 7, electrolevel 9, first wireless communication module 10, first electrical compass module 11, one UWB alignment sensor 12, 2nd UWB alignment sensor 13, 3rd UWB alignment sensor 14, second expansion link 26 and the 4th UWB alignment sensor 27 are electrically connected, controller 15 respectively with the second wireless communication module 16, UWB positioning label 17, display screen 18, button group 19 and the second electrical compass module 20 are electrically connected.
When user has forgotten the concrete parking spot of vehicle in large parking lot, start the indicating device work of carrying with, controller sends positioning instruction by the second wireless communication module to locating device, is sent with the UWB signal of self particular number to locating device by UWB positioning label.
After locating device receives positioning instruction, CPU (central processing unit) first detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level.Then, CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, for Z axis positive dirction, set up XYZ three-dimensional cartesian coordinate system with direction straight up, the line of a UWB alignment sensor and the 2nd UWB alignment sensor overlaps with Z axis.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter, make the 2nd UWB alignment sensor, the Z axis coordinate of the 3rd UWB alignment sensor and the 4th UWB alignment sensor is all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length of the first expansion link and the second expansion link elongation setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, first expansion link 7 and the second expansion link 26 perpendicular, the X-axis coordinate of the 4th UWB alignment sensor is x3, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), sets up system of equations, calculates x, y, the value of z, obtain the coordinate figure of UWB positioning label.
As shown in Figure 3, CPU (central processing unit) is according to x, the value of y calculates the projection of UWB positioning label in the plane at X-axis and Y-axis place and points to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction (i.e. earth magnetism direct north), and the coordinate figure of this angle value α and UWB positioning label is sent to indicating device.Controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, determine the sensing of the pointer of display screen display with the angle value α received according to the positive northern direction of earth magnetism, display screen demonstrates pointer, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.Controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the value of z, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance D, this distance D=-z, distance D is that positive number represents that automobile is above car owner, and distance D is that negative number representation automobile is below car owner.The coordinate figure of the real-time detection angle angle value α of locating device and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time.Controller also calculates indicating device and automobile air line distance in the horizontal plane according to the value of x, y, and display screen shows this distance.
Indicating device 2 also comprises voice output module 21 and infrared range-measurement system 22, and voice output module 21 and infrared range-measurement system 22 are electrically connected with controller 15 respectively.Voice output module can export voice message.Car owner detects the height of parking lot one deck by the infrared range-measurement system on indicating device, and controller estimates the number of floor levels of being separated by between automobile and car owner according to distance D, for car owner's reference.
As shown in Figure 4, automobile top is also provided with the box body 23 for placement positioning device 1, box body 23 open top, opening part is provided with the cover plate 24 that can move horizontally, box body 23 is provided with the driving mechanism 25 that cover plate 24 can be driven to move horizontally open or close box body 23, and CPU (central processing unit) 8 is electrically connected with driving mechanism 25.When not using, box body 23 is closed, protection objective device 1, and during use, cover plate 24 moves horizontally opens box body 23, and locating device 1 is started working.
The localization method of a kind of large parking lot Vehicle positioning system of the present embodiment, is applicable to above-mentioned a kind of large parking lot Vehicle positioning system, comprises the following steps:
S1: start indicating device work, controller sends positioning instruction by the second wireless communication module to locating device;
S2: after locating device receives positioning instruction, CPU (central processing unit) detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level;
S3: CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, XYZ three-dimensional cartesian coordinate system, for Z axis positive dirction, is set up in the direction (namely straight up direction) pointing to the 2nd UWB alignment sensor with a UWB alignment sensor;
S4: rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length of the first expansion link and the second expansion link elongation setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, the X-axis coordinate of the 4th UWB alignment sensor is x3, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), the coordinate of the 4th UWB alignment sensor is (x3, 0, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, the 4th UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 1 ) 2
Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;
S5: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of (namely on surface level) in the plane at X-axis and Y-axis place of UWB positioning label
Work as x=0, during y > 0, θ=0;
Work as x=0, during y < 0, θ=180;
As x > 0, y=0, θ=270;
As x < 0, y=0, θ=90;
As x > 0, y > 0, &theta; = 270 + a r c t g ( y x ) ;
As x < 0, y > 0, &theta; = a r c t g ( y - x ) ;
As x < 0, y < 0, &theta; = 90 + a r c t g ( y x ) ;
As x > 0, y < 0, &theta; = 180 + a r c t g ( - y x ) ;
Thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction; As shown in Figure 5, if θ < 180, then α=θ+180; As shown in Figure 6, if θ >=180, then α=θ-180; The coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by locating device; When a UWB alignment sensor point to the direction of the UWB positioning label projection in the plane at X-axis and Y-axis place and Y-axis positive dirction in the same way time, angle value θ=0, α=180;
S6: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α; When pointed earth magnetism direct north, angle value α=0; Controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, and with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance.Make user understand the position relationship of the in the vertical direction between automobile and user, automobile and user are in same layer, or are positioned at user upper strata, or are positioned at user lower floor.
The coordinate figure of the real-time detection angle angle value α of locating device and UWB positioning label, and be sent to indicating device, indicating device adjusts pointer direction in real time, realizes the effect guided in real time.

Claims (8)

1. a large parking lot Vehicle positioning system, it is characterized in that: comprise the indicating device (2) being arranged on locating device (1) on automobile and user and carrying, the electric platform (4) that described locating device (1) comprises base (3) and base (3) can be driven to rotate up and down, described base (3) is provided with lifter (5), the top of described lifter (5) is provided with the rotating mechanism (6) that can horizontally rotate, described rotating mechanism (6) is provided with can first expansion link (7) of stretching motion in the horizontal direction, described base (3) is provided with CPU (central processing unit) (8), electrolevel (9), first wireless communication module (10), first electrical compass module (11) and a UWB alignment sensor (12), described rotating mechanism (6) is provided with the 2nd UWB alignment sensor (13), described first expansion link (7) front end is provided with the 3rd UWB alignment sensor (14), a described UWB alignment sensor (12) is vertical with base (3) with the line of the 2nd UWB alignment sensor (13), described 2nd UWB alignment sensor (13) is parallel with base (3) with the line of the 3rd UWB alignment sensor (14), described indicating device (2) comprises controller (15), second wireless communication module (16), UWB positioning label (17), display screen (18), button group (19) and the second electrical compass module (20), described CPU (central processing unit) (8) respectively with electric platform (4), lifter (5), rotating mechanism (6), first expansion link (7), electrolevel (9), first wireless communication module (10), first electrical compass module (11), one UWB alignment sensor (12), 2nd UWB alignment sensor (13) and the electrical connection of the 3rd UWB alignment sensor (14), described controller (15) respectively with the second wireless communication module (16), UWB positioning label (17), display screen (18), button group (19) and the second electrical compass module (20) electrical connection.
2. a kind of large parking lot Vehicle positioning system according to claim 1, it is characterized in that: described indicating device (2) also comprises voice output module (21), described voice output module (21) is electrically connected with controller (15).
3. a kind of large parking lot Vehicle positioning system according to claim 1 and 2, it is characterized in that: described indicating device (2) also comprises infrared range-measurement system (22), described infrared range-measurement system (22) is electrically connected with controller (15).
4. a kind of large parking lot Vehicle positioning system according to claim 1 and 2, is characterized in that: described locating device (1) is arranged on automobile top.
5. a kind of large parking lot Vehicle positioning system according to claim 4, it is characterized in that: described automobile top is also provided with the box body (23) for placement positioning device (1), described box body (23) open top, described opening part is provided with the cover plate (24) that can move horizontally, described box body (23) is provided with the driving mechanism (25) that cover plate (24) can be driven to move horizontally open or close box body (23), and described CPU (central processing unit) (8) is electrically connected with driving mechanism (25).
6. a localization method for large parking lot Vehicle positioning system, is applicable to a kind of large parking lot Vehicle positioning system as described in claim arbitrary in claim 1-5, it is characterized in that, comprise the following steps:
S1: start indicating device work, controller sends positioning instruction by the second wireless communication module to locating device;
S2: after locating device receives positioning instruction, CPU (central processing unit) detects base whether level by electrolevel, if base is out-of-level, then central processing unit controls electric platform by base rotation to horizontal level;
S3: CPU (central processing unit) obtains the direction in the positive north of earth magnetism by the first electrical compass module, with a UWB alignment sensor for initial point, with earth magnetism direct north for Y-axis positive dirction, after surface level rotates clockwise 90 degree, X-axis positive dirction is oriented to Y-axis, point to the direction of the 2nd UWB alignment sensor for Z axis positive dirction with a UWB alignment sensor, set up XYZ three-dimensional cartesian coordinate system;
S4: rotating mechanism is raised to the height of setting by central processing unit controls lifter, the Z axis coordinate of the 2nd UWB alignment sensor and the 3rd UWB alignment sensor is made to be all z1, then control rotating mechanism and the first expansion link is turned to the direction pointing to the positive north of earth magnetism, control the length that the first expansion link extends setting, the Y-axis coordinate of the 3rd UWB alignment sensor is made to be y2, now, the coordinate of the one UWB alignment sensor is (0, 0, 0), the coordinate of the 2nd UWB alignment sensor is (0, 0, z1), the coordinate of the 3rd UWB alignment sensor is (0, y2, z1), one UWB alignment sensor detects that the distance between itself and UWB positioning label is R 0, the 2nd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 1, the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 2, then control the angle value m that the first expansion link is rotated setting by rotating mechanism, obtain the coordinate of the 3rd UWB alignment sensor for (x3, y3, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 3, suppose that the coordinate of UWB positioning label is for (x, y, z), obtains system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 3 2 = ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 1 ) 2
Adopt and carry out iterative based on the least square method of Taylor series expansion, obtain x, the value of y, z, obtain the coordinate figure of UWB positioning label;
S5: CPU (central processing unit) is according to the coordinate figure of UWB positioning label, be initial with Y-axis positive dirction, rotate counterclockwise as angle augment direction, calculate the angle value θ between direction that Y-axis positive dirction and a UWB alignment sensor point to the projection of UWB positioning label in the plane at X-axis and Y-axis place, thus calculate the projection of UWB positioning label in the plane at X-axis and Y-axis place and point to angle value α between the direction of a UWB alignment sensor and Y-axis positive dirction, the coordinate figure of the angle value α calculated and UWB positioning label is sent to indicating device by locating device,
S6: controller obtains the direction in the positive north of earth magnetism by the second electrical compass module, be initial with earth magnetism direct north, rotate counterclockwise as angle augment direction, the sensing of the pointer showing screen display is determined according to the angle value α received, display screen demonstrates pointer, and the angle value between the sensing of this pointer and the positive north of earth magnetism is always α.
7. the localization method of a kind of large parking lot Vehicle positioning system according to claim 6, it is characterized in that, x is obtained in described step S4, y, also following steps are performed: the first expansion link is rotated the angle value m of setting by central processing unit controls rotating mechanism again, and the coordinate obtaining the 3rd UWB alignment sensor is (x4, y4 after the value of z, z1), the 3rd UWB alignment sensor detects that the distance between itself and UWB positioning label is R 4, obtain system of equations:
R 0 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - 0 ) 2 R 1 2 = ( x - 0 ) 2 + ( y - 0 ) 2 + ( z - z 1 ) 2 R 2 2 = ( x - 0 ) 2 + ( y - y 2 ) 2 + ( z - z 1 ) 2 R 4 2 = ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 1 ) 2
Obtain x, the value of y, z, then again the first expansion link is rotated the angle value m of setting, obtain new x, the value of y, z, circulation like this n time, be averaged all x values asked, all y values are averaged, and all z values are averaged, and the mean value obtained is the coordinate figure of UWB positioning label.
8. the localization method of a kind of large parking lot Vehicle positioning system according to claim 6, it is characterized in that, described step S6 is further comprising the steps of: controller determines the distance of UWB positioning label and a UWB alignment sensor in the vertical direction according to the coordinate figure of UWB positioning label, with UWB positioning label for initial point, be distance positive dirction straight up, display screen shows this distance.
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