CN105336206B - A kind of large parking lot Vehicle positioning system and its localization method - Google Patents
A kind of large parking lot Vehicle positioning system and its localization method Download PDFInfo
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- CN105336206B CN105336206B CN201510559748.XA CN201510559748A CN105336206B CN 105336206 B CN105336206 B CN 105336206B CN 201510559748 A CN201510559748 A CN 201510559748A CN 105336206 B CN105336206 B CN 105336206B
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Abstract
The invention discloses a kind of large parking lot Vehicle positioning system and its localization method.The system includes the instruction device that the positioner being arranged on automobile and user carry, positioner includes base and electric platform, base is provided with lifter, the top of lifter is provided with rotating mechanism, rotating mechanism is provided with the first expansion link, base is provided with CPU, electrolevel, first wireless communication module, first electrical compass module and the first U W B alignment sensors, rotating mechanism is provided with the 2nd U W B alignment sensors, first expansion link front end is provided with the 3rd U W B alignment sensors, instruction device includes controller, second wireless communication module, U W B position label, display screen, button group and the second electrical compass module.The present invention can help car owner fast and accurately to lock the position of vehicle, and give car owner guiding, car owner is quickly found the automobile of oneself, save the time and efforts of car owner.
Description
Technical field
The present invention relates to vehicle positioning technology field, more particularly to a kind of large parking lot Vehicle positioning system and its positioning
Method.
Background technology
With the fast development of urbanization, the big and medium-sized cities of recent year occur in that (business is integrated substantial amounts of MALL
Body), these MALL are generally fitted provided with large-scale parking lot, and parking lot might have up to thousands of parking stalls, and some are also more than
One layer.Car owner parks in parking lot finish after, when giving for change, some people can forget which position the car of oneself is specifically parked in.For
Give car for change, car owner often expends considerable time and effort.If the vehicle location system of a kind of pocket, off-line type
System, can help car owner accurately and rapidly to lock the position of oneself vehicle, and gives and guide during giving for change, and this must
The efficiency for giving vehicle for change will be greatly enhanced, the time and efforts of car owner is saved.
The content of the invention
The purpose of the present invention is to overcome car owner to forget to need to take a significant amount of time just after the specific parking spot of vehicle sometimes
Automobile can be found, especially in large parking lot, it is necessary to spend the more technical problems of time and efforts there is provided one kind
Large parking lot Vehicle positioning system and its localization method, it can help car owner fast and accurately to lock the position of vehicle, and
Give car owner guiding, car owner is quickly found the automobile of oneself, save the time and efforts of car owner.
In order to solve the above problems, the present invention is achieved using following technical scheme：
A kind of large parking lot Vehicle positioning system of the present invention, including the positioner being arranged on automobile and user take
The instruction device of band, the positioner includes base and the electric platform that base can be driven to rotate up and down, the bottom
Seat is provided with lifter, and the top of the lifter is provided with the rotating mechanism that can be horizontally rotated, and the rotating mechanism is provided with can
First expansion link of stretching motion in the horizontal direction, the base is provided with CPU, electrolevel, first wireless
Communication module, the first electrical compass module and the first UWB alignment sensors, the rotating mechanism are positioned provided with the 2nd UWB and passed
Sensor, the first expansion link front end is provided with the 3rd UWB alignment sensors, and the first UWB alignment sensors and the 2nd UWB are determined
The line of level sensor is vertical with base, the line and base of the 2nd UWB alignment sensors and the 3rd UWB alignment sensors
Parallel, the instruction device includes controller, the second wireless communication module, UWB positioning label, display screen, button group and second
Electrical compass module, the CPU respectively with electric platform, lifter, rotating mechanism, the first expansion link, electronic water
Level, the first wireless communication module, the first electrical compass module, the first UWB alignment sensors, the 2nd UWB alignment sensors and
3rd UWB alignment sensors electrically connect, the 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 specific parking spot of vehicle in large parking lot, start carry-on
The instruction device work of carrying, controller sends positioning instruction by the second wireless communication module to positioner.
Positioner is received after positioning instruction, CPU first pass through electrolevel detection base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level.Then, centre
The direction that unit obtains earth magnetism due north by the first electrical compass module is managed, using the first UWB alignment sensors as origin, with earth magnetism
Direct north is Y-axis positive direction, is rotated clockwise with Y-axis in horizontal plane and is oriented to X-axis positive direction after 90 degree, with straight up
Direction is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors and the 2nd UWB alignment sensors
Line is overlapped with Z axis.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB
The Z axis coordinate of alignment sensor and the 3rd UWB alignment sensors is all z1, then controls rotating mechanism to rotate the first expansion link
To the direction for pointing to earth magnetism due north, the length of control the first expansion link elongation setting so that the Y-axis of the 3rd UWB alignment sensors
Coordinate is y2, now, and the coordinates of the first UWB alignment sensors is (0,0,0), the coordinates of the 2nd UWB alignment sensors for (0,0,
Z1), the coordinate of the 3rd UWB alignment sensors is (0, y2, z1), and the first UWB alignment sensors detect it and position label with UWB
The distance between be R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the 3rd UWB determine
It is R that level sensor, which detects it and positions the distance between label with UWB,2, finally control rotating mechanism by the first expansion link along suitable
Hour hands rotate 60 degree, and the coordinate for obtaining the 3rd UWB alignment sensors is (x3, y3, z1), and the 3rd UWB alignment sensors are detected
It is R that it positions the distance between label with UWB3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), sets up equation group, calculates
Go out x, y, z value obtains the coordinate value that UWB positions label.
CPU calculates projection of the UWB positioning labels in the plane where X-axis and Y-axis according to x, y value
The angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north) is pointed to, by the angle
The coordinate value of value α and UWB positioning label is sent to instruction device.Controller obtains earth magnetism due north by the second electrical compass module
Direction, determined to show the sensing of the pointer of screen display, display screen according to the direction of earth magnetism due north and the angle value α that receives
Pointer is shown, the angle value between the sensing of the pointer and earth magnetism due north is always α.Controller determines that UWB determines according to z value
The distance of position label and the first UWB alignment sensor in the vertical directions, using UWB positioning labels as origin, straight up for away from
From positive direction, display screen shows this apart from D, and this is that positive number represents that automobile above car owner, is apart from D apart from D apart from D=-z
Negative number representation automobile is below car owner.
Preferably, the instruction device also includes voice output module, the voice output module is electrically connected with controller
Connect.Voice output module can export voice message.
Preferably, instruction device also includes infrared range-measurement system, the infrared range-measurement system is electrically connected with the controller.Car owner can
The height in one layer of parking lot is detected by the infrared range-measurement system in instruction device, controller estimates automobile and car according to apart from D
The number of floor levels being separated by between master, is referred to for car owner.
Preferably, the positioner is arranged on automobile top.
Preferably, the automobile top is additionally provided with the box body for placement positioning device, the box body open top, institute
State and horizontally movable cover plate is provided with opening, the box body opens or closes box body provided with cover plate can be driven to move horizontally
Drive mechanism, the CPU is electrically connected with drive mechanism.When not in use, box body is closed, and is protected positioner, is used
When, cover plate moves horizontally opening box body, and positioner is started working.
A kind of localization method of large parking lot Vehicle positioning system of the present invention, comprises the following steps：
S1：Start instruction device work, controller sends positioning instruction by the second wireless communication module to positioner；
S2：Positioner is received after positioning instruction, CPU by electrolevel detect base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level；
S3 CPU obtains the direction of earth magnetism due north by the first electrical compass module, is positioned and passed with the first UWB
Sensor is origin, using earth magnetism direct north as Y-axis positive direction, is rotated clockwise with Y-axis in horizontal plane and is oriented to X-axis after 90 degree
XYZ is set up three-dimensional in positive direction, the direction using the first UWB alignment sensors the 2nd UWB alignment sensors of sensing as Z axis positive direction
Rectangular coordinate system；
S4：Rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB orientation sensings
The Z axis coordinate of device and the 3rd UWB alignment sensors is all z1, then controls rotating mechanism that the first expansion link is turned into sensing ground
The direction of magnetic due north, the length of control the first expansion link elongation setting so that the Y-axis coordinate of the 3rd UWB alignment sensors is y2,
Now, the coordinate of the first UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), the 3rd
The coordinate of UWB alignment sensors is (0, y2, z1), the first UWB alignment sensors detect its position UWB between label away from
From for R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the 3rd UWB alignment sensors
It is R to detect it and position the distance between label with UWB2, then control rotating mechanism that the first expansion link is rotated to the angle of setting
Angle value m, 0 ＜ m ＜ 180, the coordinate for obtaining the 3rd UWB alignment sensors are (x3, y3, z1), the detection of the 3rd UWB alignment sensors
It is R to position the distance between label with UWB to it3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), obtains equation group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S5：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection direction between angle value θ so that calculate UWB position label in the plane where X-axis and Y-axis
Projection point to angle value α between the direction of the first UWB alignment sensor and Y-axis positive direction, positioner will be calculated
The coordinate value of angle value α and UWB positioning label is sent to instruction device；
S6：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α.
Preferably, also performing following steps after x, y, z value are obtained in the step S4：Central processing unit controls
Rotating mechanism again rotates the first expansion link the angle value m of setting, obtain the coordinates of the 3rd UWB alignment sensors for (x4, y4,
Z1), it is R that the 3rd UWB alignment sensors, which detect it and position the distance between label with UWB,4, obtain equation group：
Obtain x, y, z value then again rotates the first expansion link the angle value m of setting, obtain new x, y, z value,
So all x values asked are averaged, all y values are averaged, all z values are averaged by circulation n times, and obtained average value is UWB
Position the coordinate value of label.
Preferably, the step S6 is further comprising the steps of：Controller is determined according to the UWB coordinate values for positioning label
UWB positions the distance of label and the first UWB alignment sensor in the vertical directions, positions label as origin using UWB, straight up
For apart from positive direction, display screen shows the distance.Allow a user knowledge of the position of the in the vertical direction between automobile and user
Relation, automobile is in same layer with user, or positioned at user upper strata, or positioned at user lower floor.
The present invention substantial effect be：Car owner can be helped fast and accurately to lock the position of vehicle, and give car owner draw
Lead, car owner is quickly found the automobile of oneself, save the time and efforts of car owner.
Brief description of the drawings
Fig. 1 is a kind of circuit theory connection block diagram of the present invention；
Fig. 2 is a kind of structural representation of positioner；
Fig. 3 is the XYZ three-dimensional cartesian coordinate systems set up using the first UWB alignment sensors as origin；
Fig. 4 is the structural representation of box body；
Fig. 5 is a kind of position relationship that the first UWB alignment sensors position label with UWB；
Fig. 6 is a kind of position relationship that the first UWB alignment sensors position label with UWB；
Fig. 7 is a kind of top view of positioner.
In figure：1st, positioner, 2, instruction device, 3, base, 4, electric platform, 5, lifter, 6, rotating mechanism, 7,
One expansion link, 8, CPU, 9, electrolevel, the 10, first wireless communication module, the 11, first electrical compass module,
12nd, the first UWB alignment sensors, the 13, the 2nd UWB alignment sensors, the 14, the 3rd UWB alignment sensors, 15, controller, 16,
Second wireless communication module, 17, UWB positioning labels, 18, display screen, 19, button group, the 20, second electrical compass module, 21, language
Sound output module, 22, infrared range-measurement system, 23, box body, 24, cover plate, 25, drive mechanism, the 26, second expansion link, the 27, the 4th UWB
Alignment sensor.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1：A kind of large parking lot Vehicle positioning system of the present embodiment, as shown in Figure 1 and Figure 2, including is arranged on
The instruction device 2 that the positioner 1 of automobile top and user carry, positioner 1 includes base 3 and can driven on base 3
The electric platform 4 of lower left-right rotation, base 3 is provided with lifter 5, and the top of lifter 5 is provided with the whirler that can be horizontally rotated
Structure 6, rotating mechanism 6 provided with can stretching motion in the horizontal direction the first expansion link 7, base 3 is provided with CPU
8th, electrolevel 9, the first wireless communication module 10, the first electrical compass module 11 and the first UWB alignment sensors 12, rotation
The center of mechanism 6 is provided with the 2nd UWB alignment sensors 13, and the front end of the first expansion link 7 is provided with the 3rd UWB alignment sensors 14, first
The line of the UWB alignment sensors 13 of UWB alignment sensors 12 and the 2nd is vertical with base 3, the 2nd UWB alignment sensors 13 and
The line of three UWB alignment sensors 14 is parallel with base 3, instruction device 2 include controller 15, the second wireless communication module 16,
UWB positioning label 17, display screen 18, the electrical compass module 20 of button group 19 and second, CPU 8 respectively with electronic cloud
Platform 4, lifter 5, rotating mechanism 6, the first expansion link 7, electrolevel 9, the first wireless communication module 10, the first electronic compass
Module 11, the first UWB alignment sensors 12, the 2nd UWB alignment sensors 13 and the 3rd UWB alignment sensors 14 are electrically connected, control
Device 15 processed positions label 17, display screen 18, the electronic compass of button group 19 and second with the second wireless communication module 16, UWB respectively
Module 20 is electrically connected.
When user has forgotten the specific parking spot of vehicle in large parking lot, start the instruction device work carried with
Work, controller sends positioning instruction by the second wireless communication module to positioner, and positioning label by UWB sends with certainly
The UWB signal of body particular number is to positioner.
Positioner is received after positioning instruction, CPU first pass through electrolevel detection base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level.Then, centre
The direction that unit obtains earth magnetism due north by the first electrical compass module is managed, using the first UWB alignment sensors as origin, with earth magnetism
Direct north is Y-axis positive direction, is rotated clockwise with Y-axis and is oriented to X-axis positive direction after 90 degree, using direction straight up as Z
Axle positive direction, sets up the line and Z of XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors and the 2nd UWB alignment sensors
Overlapping of axles.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB positioning is passed
The Z axis coordinate of sensor and the 3rd UWB alignment sensors is all z1, then controls rotating mechanism that the first expansion link is turned into sensing
The direction of earth magnetism due north, the length of control the first expansion link elongation setting so that the Y-axis coordinate of the 3rd UWB alignment sensors is
Y2, now, the coordinate of the first UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), the
The coordinate of three UWB alignment sensors is (0, y2, z1), and it is fixed with UWB that the first UWB alignment sensors detect it by TOA methods
The distance between position label is R0, the 2nd UWB alignment sensors detect it by TOA methods and position UWB between label
Distance is R1, it is R that the 3rd UWB alignment sensors detect it to position the distance between label with UWB by TOA methods2, finally
Control rotating mechanism by the first expansion link along rotating clockwise 60 degree, obtain the coordinate of the 3rd UWB alignment sensors for (x3, y3,
Z1), it is R that the 3rd UWB alignment sensors detect it to position the distance between label with UWB by TOA methods3, it is assumed that UWB is fixed
The coordinate of position label is (x, y, z), sets up equation group, calculates x, and y, z value obtains the coordinate value that UWB positions label.
As shown in figure 3, CPU is according to x, y value calculates UWB positioning labels flat where X-axis and Y-axis
The angle value between the direction of the first UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north) is pointed in projection on face
α, instruction device is sent to by the angle value α and UWB coordinate values for positioning label.Controller is obtained by the second electrical compass module
The direction of earth magnetism due north is taken, is determined to show the pointer of screen display according to the direction of earth magnetism due north and the angle value α received
Point to, display screen shows pointer, using earth magnetism direct north to originate, rotate counterclockwise as angle augment direction, the pointer
The angle value pointed between earth magnetism due north is always α.Controller determines that UWB positioning labels and the first UWB are positioned according to z value
The distance of sensor in the vertical direction, positions label as origin, straight up for apart from positive direction, display screen is shown using UWB
This is apart from D, and this is that positive number represents automobile above car owner apart from D apart from D=-z, is negative number representation automobile under car owner apart from D
Side, such as D=20 represents automobile 20 meters of places above the car owner, D=-20, and expression automobile is below the car owner at 20 meters.Controller is also
According to x, y value calculates instruction device and the air line distance of automobile in the horizontal plane, and display screen shows the distance.
Instruction device 2 also includes voice output module 21 and infrared range-measurement system 22, voice output module 21 and infrared distance measurement
Instrument 22 is electrically connected with controller 15 respectively.Voice output module can export voice message.Car owner can be by instruction device
Infrared range-measurement system detects the height in one layer of parking lot, the floor that controller is separated by according to being estimated apart from D between automobile and car owner
Number, is referred to for car owner.
As shown in figure 4, automobile top is additionally provided with the box body 23 for placement positioning device 1, the open top of box body 23, opening
Place is provided with horizontally movable cover plate 24, and box body 23 opens or closes the drive of box body 23 provided with cover plate 24 can be driven to move horizontally
Motivation structure 25, CPU 8 is electrically connected with drive mechanism 25.When not in use, box body 23 is closed, and is protected positioner 1, is made
Used time, cover plate 24 moves horizontally opening box body 23, and positioner 1 is started working.
A kind of localization method of large parking lot Vehicle positioning system of the present embodiment, comprises the following steps：
S1：Start instruction device work, controller sends positioning instruction by the second wireless communication module to positioner；
S2：Positioner is received after positioning instruction, CPU by electrolevel detect base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level；
S3：CPU obtains the direction of earth magnetism due north by the first electrical compass module, is positioned and passed with the first UWB
Sensor is origin, using earth magnetism direct north as Y-axis positive direction, is rotated clockwise with Y-axis in horizontal plane and is oriented to X-axis after 90 degree
Positive direction, with the first UWB alignment sensors point to the 2nd UWB alignment sensors direction (i.e. direction straight up) be Z axis just
Direction, sets up XYZ three-dimensional cartesian coordinate systems；
S4：Rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB orientation sensings
The Z axis coordinate of device and the 3rd UWB alignment sensors is all z1, then controls rotating mechanism that the first expansion link is turned into sensing ground
The direction of magnetic due north, the length of control the first expansion link elongation setting so that the Y-axis coordinate of the 3rd UWB alignment sensors is y2,
Now, the coordinate of the first UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), the 3rd
The coordinate of UWB alignment sensors is (0, y2, z1), the first UWB alignment sensors detect its position UWB between label away from
From for R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the 3rd UWB alignment sensors
It is R to detect it and position the distance between label with UWB2, then control rotating mechanism that the first expansion link is rotated clockwise into 60
Degree, the coordinate for obtaining the 3rd UWB alignment sensors is (x3, y3, z1), and the 3rd UWB alignment sensors detect it and positioned with UWB
The distance between label is R3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), obtains equation group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S5：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection (i.e. on horizontal plane) direction between angle value θ,
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,
As x ＜ 0, y ＞ 0,
As x ＜ 0, y ＜ 0,
As x ＞ 0, y ＜ 0,
The first UWB orientation sensings are pointed to so as to calculate projection of the UWB positioning labels in the plane where X-axis and Y-axis
Angle value α between the direction of device and Y-axis positive direction；If as shown in figure 5, θ ＜ 180, α=θ+180；As shown in fig. 6, such as
Fruit θ >=180, then α=θ -180；The angle value α and UWB that the calculate coordinate value for positioning label are sent to finger by positioner
Showing device；When the first UWB alignment sensors point to the direction of projection of the UWB positioning labels in the plane where X-axis and Y-axis with
When Y-axis positive direction is in the same direction, angle value θ=0, α=180；
S6：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α；When pointer points to earth magnetism direct north
When, angle value α=0；Controller determines UWB positioning labels and the first UWB alignment sensors according to the UWB coordinate values for positioning label
The distance of in the vertical direction, label is positioned as origin using UWB, straight up for apart from positive direction, display screen shows the distance,
The position relationship of the in the vertical direction between automobile and user is allowed a user knowledge of, automobile is in same layer, or position with user
In user upper strata, or positioned at user lower floor.
Obtained in step S4 and also perform following steps after x, y, z value：Central processing unit controls rotating mechanism again will
First expansion link rotates clockwise 45 degree, and the coordinate for obtaining the 3rd UWB alignment sensors is (x4, y4, z1), the 3rd UWB positioning
It is R that sensor, which detects it and positions the distance between label with UWB,4, obtain equation group：
X is obtained, the first expansion link is then rotated clockwise 45 degree by y, z value again, obtain new x, y, z value, so
All x values asked are averaged, all y values are averaged, all z values are averaged by circulation 3 times, and obtained average value positions for UWB
The coordinate value of label.
Embodiment 2：A kind of large parking lot Vehicle positioning system of the present embodiment, as shown in Figure 1, Figure 2, shown in Fig. 7, including sets
The instruction device 2 in the positioner 1 of automobile top and user's carrying is put, positioner 1 includes base 3 and can drive base
3 electric platforms 4 rotated up and down, base 3 is provided with lifter 5, and the top of lifter 5 is provided with the rotation that can be horizontally rotated
Mechanism 6, rotating mechanism 6 provided with can stretching motion in the horizontal direction the first expansion link 7 and the second expansion link 26, first stretches
The expansion link 26 of bar 7 and second is perpendicular, and base 3 is provided with CPU 8, electrolevel 9, the first wireless communication module
10th, the first electrical compass module 11 and the first UWB alignment sensors 12, rotating mechanism 6 are provided with the 2nd UWB alignment sensors
13, the front end of the first expansion link 7 is provided with the 3rd UWB alignment sensors 14, and the front end of the second expansion link 26 is provided with the 4th UWB orientation sensings
The line of device 27, the first UWB alignment sensors 12 and the 2nd UWB alignment sensors 13 is vertical with base 3, and the 2nd UWB positioning is passed
The line of the UWB alignment sensors 14 of sensor 13 and the 3rd is parallel with base 3, the 2nd UWB alignment sensors 13 and the 4th UWB positioning
The line of sensor 27 is parallel with base 3, and instruction device 2 includes controller 15, the second wireless communication module 16, UWB positioning marks
Label 17, display screen 18, the electrical compass module 20 of button group 19 and second, CPU 8 respectively with electric platform 4, lifting
Device 5, rotating mechanism 6, the first expansion link 7, electrolevel 9, the first wireless communication module 10, the first electrical compass module 11,
First UWB alignment sensors 12, the 2nd UWB alignment sensors 13, the 3rd UWB alignment sensors 14, the second expansion link 26 and
Four UWB alignment sensors 27 are electrically connected, and controller 15 positions label 17, display screen with the second wireless communication module 16, UWB respectively
18th, the electrical compass module 20 of button group 19 and second is electrically connected.
When user has forgotten the specific parking spot of vehicle in large parking lot, start the instruction device work carried with
Work, controller sends positioning instruction by the second wireless communication module to positioner, and positioning label by UWB sends with certainly
The UWB signal of body particular number is to positioner.
Positioner is received after positioning instruction, CPU first pass through electrolevel detection base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level.Then, centre
The direction that unit obtains earth magnetism due north by the first electrical compass module is managed, using the first UWB alignment sensors as origin, with earth magnetism
Direct north is Y-axis positive direction, is rotated clockwise with Y-axis in horizontal plane and is oriented to X-axis positive direction after 90 degree, with straight up
Direction is Z axis positive direction, sets up XYZ three-dimensional cartesian coordinate systems, the first UWB alignment sensors and the 2nd UWB alignment sensors
Line is overlapped with Z axis.Then, rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB
The Z axis coordinate of alignment sensor, the 3rd UWB alignment sensors and the 4th UWB alignment sensors is all z1, then controls whirler
Structure turns to the first expansion link the length in the direction for pointing to earth magnetism due north, the first expansion link of control and the elongation setting of the second expansion link
Degree so that the Y-axis coordinate of the 3rd UWB alignment sensors is y2, the first expansion link 7 and the second expansion link 26 are perpendicular, the 4th UWB
The X-axis coordinate of alignment sensor is x3, now, and the coordinate of the first UWB alignment sensors is (0,0,0), the 2nd UWB orientation sensings
The coordinate of device is (0,0, z1), and the coordinate of the 3rd UWB alignment sensors is (0, y2, z1), the coordinate of the 4th UWB alignment sensors
For (x3,0, z1), it is R that the first UWB alignment sensors, which detect it and position the distance between label with UWB,0, the 2nd UWB positioning
It is R that sensor, which detects it and positions the distance between label with UWB,1, the 3rd UWB alignment sensors detect itself and UWB and position
The distance between label is R2, it is R that the 4th UWB alignment sensors, which detect it and position the distance between label with UWB,3, it is assumed that
The coordinate of UWB positioning labels is (x, y, z), sets up equation group, calculates x, and y, z value obtains the coordinate that UWB positions label
Value.
As shown in figure 3, CPU is according to x, y value calculates UWB positioning labels flat where X-axis and Y-axis
The angle value between the direction of the first UWB alignment sensors and Y-axis positive direction (i.e. earth magnetism direct north) is pointed in projection on face
α, instruction device is sent to by the angle value α and UWB coordinate values for positioning label.Controller is obtained by the second electrical compass module
The direction of earth magnetism due north is taken, is determined to show the pointer of screen display according to the direction of earth magnetism due north and the angle value α received
Point to, display screen shows pointer, using earth magnetism direct north to originate, rotate counterclockwise as angle augment direction, the pointer
The angle value pointed between earth magnetism due north is always α.Controller determines that UWB positioning labels and the first UWB are positioned according to z value
The distance of sensor in the vertical direction, positions label as origin, straight up for apart from positive direction, display screen is shown using UWB
This is apart from D, and this is that positive number represents automobile above car owner apart from D apart from D=-z, is negative number representation automobile under car owner apart from D
Side.The real-time detection angles value α and UWB of positioner positions the coordinate value of label, and is sent to instruction device, and instruction device is real-time
Adjust pointer direction.Controller calculates instruction device and the air line distance of automobile in the horizontal plane always according to x, y value, display
Screen shows the distance.
Instruction device 2 also includes voice output module 21 and infrared range-measurement system 22, voice output module 21 and infrared distance measurement
Instrument 22 is electrically connected with controller 15 respectively.Voice output module can export voice message.Car owner can be by instruction device
Infrared range-measurement system detects the height in one layer of parking lot, the floor that controller is separated by according to being estimated apart from D between automobile and car owner
Number, is referred to for car owner.
As shown in figure 4, automobile top is additionally provided with the box body 23 for placement positioning device 1, the open top of box body 23, opening
Place is provided with horizontally movable cover plate 24, and box body 23 opens or closes the drive of box body 23 provided with cover plate 24 can be driven to move horizontally
Motivation structure 25, CPU 8 is electrically connected with drive mechanism 25.When not in use, box body 23 is closed, and is protected positioner 1, is made
Used time, cover plate 24 moves horizontally opening box body 23, and positioner 1 is started working.
The localization method of a kind of large parking lot Vehicle positioning system of the present embodiment, it is adaptable to above-mentioned a kind of large-scale to stop
Parking lot Vehicle positioning system, comprises the following steps：
S1：Start instruction device work, controller sends positioning instruction by the second wireless communication module to positioner；
S2：Positioner is received after positioning instruction, CPU by electrolevel detect base whether water
Flat, if base not level, central processing unit controls electric platform is by base rotation to horizontal level；
S3：CPU obtains the direction of earth magnetism due north by the first electrical compass module, is positioned and passed with the first UWB
Sensor is origin, using earth magnetism direct north as Y-axis positive direction, is rotated clockwise with Y-axis in horizontal plane and is oriented to X-axis after 90 degree
Positive direction, with the first UWB alignment sensors point to the 2nd UWB alignment sensors direction (i.e. direction straight up) be Z axis just
Direction, sets up XYZ three-dimensional cartesian coordinate systems；
S4：Rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB orientation sensings
The Z axis coordinate of device and the 3rd UWB alignment sensors is all z1, then controls rotating mechanism that the first expansion link is turned into sensing ground
The length of the direction of magnetic due north, the first expansion link of control and the elongation setting of the second expansion link so that the 3rd UWB alignment sensors
Y-axis coordinate is y2, and the X-axis coordinates of the 4th UWB alignment sensors is x3, now, the coordinates of the first UWB alignment sensors for (0,
0,0), the coordinate of the 2nd UWB alignment sensors is (0,0, z1), and the coordinate of the 3rd UWB alignment sensors is (0, y2, z1), the
The coordinate of four UWB alignment sensors is (x3,0, z1), and the first UWB alignment sensors detect it between UWB positioning labels
Distance is R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the 3rd UWB orientation sensings
It is R that device, which detects it and positions the distance between label with UWB,2, the 4th UWB alignment sensors detect itself and UWB positioning label
The distance between be R3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), obtains equation group：
Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB and determined
The coordinate value of position label；
S5：CPU according to UWB position label coordinate value, using Y-axis positive direction for originate, rotate counterclockwise for
Angle augment direction, calculates Y-axis positive direction and points to UWB positioning labels where X-axis and Y-axis with the first UWB alignment sensors
Plane on projection (i.e. on horizontal plane) direction between angle value θ,
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,
As x ＜ 0, y ＞ 0,
As x ＜ 0, y ＜ 0,
As x ＞ 0, y ＜ 0,
The first UWB orientation sensings are pointed to so as to calculate projection of the UWB positioning labels in the plane where X-axis and Y-axis
Angle value α between the direction of device and Y-axis positive direction；If as shown in figure 5, θ ＜ 180, α=θ+180；As shown in fig. 6, such as
Fruit θ >=180, then α=θ -180；The angle value α and UWB that the calculate coordinate value for positioning label are sent to finger by positioner
Showing device；When the first UWB alignment sensors point to the direction of projection of the UWB positioning labels in the plane where X-axis and Y-axis with
When Y-axis positive direction is in the same direction, angle value θ=0, α=180；
S6：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting,
Rotate counterclockwise as angle augment direction, determined to show the sensing of the pointer of screen display, display according to the angle value α received
Screen display shows pointer, and the angle value between the sensing of the pointer and earth magnetism due north is always α；When pointer points to earth magnetism direct north
When, angle value α=0；Controller determines UWB positioning labels and the first UWB alignment sensors according to the UWB coordinate values for positioning label
The distance of in the vertical direction, positions label as origin, straight up for apart from positive direction, display screen shows the distance using UWB.
The position relationship of the in the vertical direction between automobile and user is allowed a user knowledge of, automobile is in same layer, or position with user
In user upper strata, or positioned at user lower floor.
The real-time detection angles value α and UWB of positioner positions the coordinate value of label, and is sent to instruction device, indicates dress
Adjustment pointer direction in real time is put, the effect guided in real time is realized.
Claims (8)
1. a kind of large parking lot Vehicle positioning system, it is characterised in that：Including the positioner (1) being arranged on automobile and use
The instruction device (2) that family is carried, the positioner (1) includes base (3) and can drive what base (3) was rotated up and down
Electric platform (4), the base (3) is provided with lifter (5), and the top of the lifter (5) is provided with the rotation that can be horizontally rotated
Rotation mechanism (6), the rotating mechanism (6) provided with can stretching motion in the horizontal direction the first expansion link (7), the base
(3) CPU (8), electrolevel (9), the first wireless communication module (10), the first electrical compass module are provided with
(11) and the first UWB alignment sensors (12), the rotating mechanism (6) is provided with the 2nd UWB alignment sensors (13), and described the
One expansion link (7) front end is provided with the 3rd UWB alignment sensors (14), and the first UWB alignment sensors (12) and the 2nd UWB are fixed
The line of level sensor (13) is vertical with base (3), the 2nd UWB alignment sensors (13) and the 3rd UWB alignment sensors
(14) line is parallel with base (3), the instruction device (2) include controller (15), the second wireless communication module (16),
UWB positioning labels (17), display screen (18), button group (19) and the second electrical compass module (20), the CPU
(8) respectively with electric platform (4), lifter (5), rotating mechanism (6), the first expansion link (7), electrolevel (9), the first nothing
Line communication module (10), the first electrical compass module (11), the first UWB alignment sensors (12), the 2nd UWB alignment sensors
(13) with the 3rd UWB alignment sensors (14) electrically connect, the controller (15) respectively with the second wireless communication module (16),
UWB positioning labels (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 characterised in that：The instruction device
(2) voice output module (21) is also included, the voice output module (21) electrically connects with controller (15).
3. a kind of large parking lot Vehicle positioning system according to claim 1 or 2, it is characterised in that：It is described to indicate dress
Putting (2) also includes infrared range-measurement system (22), and the infrared range-measurement system (22) electrically connects with controller (15).
4. a kind of large parking lot Vehicle positioning system according to claim 1 or 2, it is characterised in that：The positioning dress
Put (1) and be arranged on automobile top.
5. a kind of large parking lot Vehicle positioning system according to claim 4, it is characterised in that：The automobile top is also
Provided with the box body (23) for placement positioning device (1), box body (23) open top, at the opening provided with can level move
Dynamic cover plate (24), the box body (23), which is provided with, can drive cover plate (24) to move horizontally the driving for opening or closing box body (23)
Mechanism (25), the CPU (8) electrically connects with drive mechanism (25).
6. a kind of localization method of large parking lot Vehicle positioning system, it is adaptable to such as any claim in claim 1-5
Described a kind of large parking lot Vehicle positioning system, it is characterised in that comprise the following steps：
S1：Start instruction device work, controller sends positioning instruction by the second wireless communication module to positioner；
S2：Positioner is received after positioning instruction, CPU by electrolevel detect base whether level, such as
Fruit base not level, then central processing unit controls electric platform is by base rotation to horizontal level；
S3：CPU obtains the direction of earth magnetism due north by the first electrical compass module, with the first UWB alignment sensors
For origin, using earth magnetism direct north as Y-axis positive direction, rotated clockwise with Y-axis in horizontal plane and be oriented to X-axis pros after 90 degree
To the three-dimensional right angles of XYZ are set up in the direction using the first UWB alignment sensors the 2nd UWB alignment sensors of sensing as Z axis positive direction
Coordinate system；
S4：Rotating mechanism is raised to the height of setting by central processing unit controls lifter so that the 2nd UWB alignment sensors and
The Z axis coordinate of 3rd UWB alignment sensors is all z1, then controls rotating mechanism that the first expansion link is being turned into sensing earth magnetism just
The direction in north, the length of control the first expansion link elongation setting so that the Y-axis coordinate of the 3rd UWB alignment sensors is y2, this
When, the coordinate of the first UWB alignment sensors is (0,0,0), and the coordinate of the 2nd UWB alignment sensors is (0,0, z1), the 3rd UWB
The coordinate of alignment sensor is (0, y2, z1), and the first UWB alignment sensors detect it and position the distance between label with UWB
For R0, it is R that the 2nd UWB alignment sensors, which detect it and position the distance between label with UWB,1, the inspection of the 3rd UWB alignment sensors
It is R to measure it and position the distance between label with UWB2, then control rotating mechanism that the first expansion link is rotated to the angle of setting
Value m, 0 ＜ m ＜ 180, the coordinate for obtaining the 3rd UWB alignment sensors is (x3, y3, z1), and the 3rd UWB alignment sensors are detected
It is R that it positions the distance between label with UWB3, it is assumed that the coordinate of UWB positioning labels is (x, y, z), obtains equation group：
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Solution is iterated using the least square method based on Taylor series expansion, x is obtained, y, z value obtains UWB positioning marks
The coordinate value of label；
S5：CPU positions the coordinate value of label according to UWB, using Y-axis positive direction as starting, rotates counterclockwise as angle
Augment direction, calculates Y-axis positive direction and points to UWB positioning labels flat where X-axis and Y-axis with the first UWB alignment sensors
Angle value θ between the direction of projection on face, so as to calculate throwing of the UWB positioning labels in the plane where X-axis and Y-axis
Shadow points to the angle value α between the direction of the first UWB alignment sensors and Y-axis positive direction, and positioner is by the angle calculated
The coordinate value of value α and UWB positioning label is sent to instruction device；
S6：Controller obtains the direction of earth magnetism due north by the second electrical compass module, using earth magnetism direct north as starting, inverse time
It is angle augment direction that pin, which is rotated, is determined to show the sensing of the pointer of screen display according to the angle value α received, shows screen display
Pointer is shown, the angle value between the sensing of the pointer and earth magnetism due north is always α.
7. the localization method of a kind of large parking lot Vehicle positioning system according to claim 6, it is characterised in that described
Obtained in step S4 and also perform following steps after x, y, z value：Central processing unit controls rotating mechanism stretches first again
Bar rotates the angle value m of setting, and the coordinate for obtaining the 3rd UWB alignment sensors is (x4, y4, z1), the 3rd UWB alignment sensors
It is R to detect it and position the distance between label with UWB4, obtain equation group：
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Obtain x, y, z value then again rotates the first expansion link the angle value m of setting, obtain new x, y, z value, so
All x values asked are averaged, all y values are averaged, all z values are averaged by circulation n times, and obtained average value positions for UWB
The coordinate value of label.
8. the localization method of a kind of large parking lot Vehicle positioning system according to claim 6, it is characterised in that described
Step S6 is further comprising the steps of：Controller determines that UWB positioning labels and the first UWB are fixed according to the UWB coordinate values for positioning label
The distance of level sensor in the vertical direction, label is positioned as origin using UWB, straight up for apart from positive direction, display screen display
Show the distance.
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| CN112862272A (en) * | 2021-01-21 | 2021-05-28 | 华中科技大学 | Accurate agricultural management and analysis system, positioning method, terminal and storage medium |
| CN114877800B (en) * | 2022-06-21 | 2023-11-21 | 广西柳工机械股份有限公司 | Steering angle detection device and method for articulated steering vehicle and vehicle |
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