CN106403961B - A kind of Combined type magnetic terrestrial reference localization method - Google Patents
A kind of Combined type magnetic terrestrial reference localization method Download PDFInfo
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- CN106403961B CN106403961B CN201510463338.5A CN201510463338A CN106403961B CN 106403961 B CN106403961 B CN 106403961B CN 201510463338 A CN201510463338 A CN 201510463338A CN 106403961 B CN106403961 B CN 106403961B
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- terrestrial reference
- magnetic terrestrial
- combined type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
Abstract
The invention belongs to Kinematic Positioning Techniquess fields, realize that the dynamic position in vehicular motion positions more particularly to a kind of principle using the identification of magnetic terrestrial reference assembly coding, it solves in magnetic orientation field in Absolutely orientation using upper shortcoming, magnetic markers is made to have turned to a kind of Combined type magnetic terrestrial reference localization method of the Absolutely orientation of vehicle from automobile navigation in use；Maintenance cost is low in use for Combined type magnetic terrestrial reference, long service life, positioning datum as positioning system realizes the position positioning in vehicle traveling, the magnetic terrestrial reference quantity of quantity and composition the fixation and recognition coding of Combined type magnetic terrestrial reference can be changed according to demand, to adapt to the application in various situations, a kind of adaptable positioning datum source with high accuracy is provided for vehicle positioning system, guarantee is provided to the positioning accuracy of vehicle positioning system.
Description
Technical field
The invention belongs to Kinematic Positioning Techniquess fields, and in particular to a kind of Combined type magnetic terrestrial reference localization method.
Background technique
Position dynamic positioning not yet publication is carried out as positioning datum source currently with Combined type magnetic terrestrial reference.
According to retrieval, magnetic orientation technology is used on some intelligent vehicles, it is different according to the producing method in inducement signal source
It is divided into signal cable, tape, road magnetic nail and magnetic nail and 4 kinds of tape mixed positioning.
Signal cable is to bury cable on both sides of the road in road and pass to current induced magnetic field to cable, and antenna is onboard arranged
Mode keeps function to complete lane.This mode requires in route the moment to require electric current presence, once occur open circuit or its
His situation will not generate magnetic signal in circuit, therefore safeguard relatively difficult, and it is relatively high to be in addition laid with cable expense, and
It is not used widely.
Tape is combined, along path locus as signal generating source by 50% ferro-boron material compounded nitrile rubber
It is embedded in the reference under road surface as Vehicular navigation system, realizes the self-navigation of vehicle.Tape buries in tape navigation system
If being less susceptible to, and expense is relatively high, the magnetic field of generation is not strong, safeguards inconvenience.
Road magnetic nail mode be it is most common in magnetic orientation, along traffic route embedded magnetic markers equidistant at certain intervals,
Onboard sensor is acquired magnetic markers signal, and the magnetic field signal of magnetic markers is detected according to electromagnetic induction principle, can be excluded
The interference in other magnetic fields, obtained by magnetic markers signal vehicle advance in whether run-off-road, guarantee its along runway travel,
Realize vehicle automatic navigation.
It is to bury magnetic nail in runway center that magnetic nail is mixed with tape, buries tape in runway both sides, Magnetic Sensor is logical on vehicle
It crosses these information and carries out Heading control.
Summary of the invention
The object of the present invention is in view of the shortcomings of the prior art, realize vehicle using the principle of magnetic terrestrial reference assembly coding identification
Dynamic position positioning in traveling process solves in magnetic orientation field in Absolutely orientation using upper shortcoming,
Magnetic markers are made to have turned to a kind of Combined type magnetic terrestrial reference localization method of the Absolutely orientation of vehicle from automobile navigation in use.
The technical scheme is that
A kind of Combined type magnetic terrestrial reference localization method is completed, each magnetic terrestrial reference packet based on one group of a number of magnetic terrestrial reference
It includes a magnet steel 2 and covers the stainless steel sheath 1 outside magnet steel 2,1 two sides of stainless steel sheath are reserved with screw thread 3；
This method the following steps are included:
Step 1, multiple magnetic terrestrial references linearly arrange, road surface that the distance between each magnetic terrestrial reference is laid as needed or
Place width determines, apart from selection range in 0.8m ∽ 1m；
Step 2, when Combined type magnetic terrestrial reference is arranged upward by the pole N of part of magnetic terrestrial reference, other magnetic terrestrial references
The pole S upward, forms a series of polar alignment form, it is desirable that the combinations of polarities of any several adjacent magnetic terrestrial references is different, group
It needs for the road surface laid or the laterally whole of place to be booked when mould assembly magnetic terrestrial reference is laid；
Step 3 forms one group of positioning when the quantity of Combined type magnetic terrestrial reference is not more than 10 with any 3 adjacent magnetic terrestrial references
In the case where identification coding, we are generallyd use the polar alignment form of Combined type magnetic terrestrial reference SSSNSNNNSS from left to right,
Guarantee that the polarity coding of any 3 magnetic terrestrial references is different；
When the quantity of Combined type magnetic terrestrial reference is excessively greater than 10, one group of fixation and recognition is formed with any 4 adjacent magnetic terrestrial references
In the case where coding, we are generallyd use the polar alignment of Combined type magnetic terrestrial reference SSSSNSSNNSNSNNNNSSS from left to right
Form guarantees that the polarity coding of any 4 magnetic terrestrial references is different, and the quantity of Combined type magnetic terrestrial reference is up to 19；
Step 4 distinguishes coding using binary number, it is specified that the pole S is indicated with 0 upward, then the pole N is upward with 1 come table
Show, the polar alignment situation of two kinds of Combined type magnetic terrestrial references indicates to be exactly 0001011100 He with binary coding in step 3
0000100110101111000；It needs the geographical coordinate by benchmark magnetic terrestrial reference to calibrate in use to come, every kind of positioning is known
Corresponding coding and coordinate storage are used as into database and are set to base by the geographic coordinate values that Bian Ma do not correspond to a benchmark magnetic terrestrial reference
It is quasi-.
The beneficial effects of the present invention are:
Maintenance cost is low in use for Combined type magnetic terrestrial reference, long service life, the positioning datum as positioning system
Realize the position positioning in vehicle traveling, the magnetic terrestrial reference quantity of quantity and composition the fixation and recognition coding of Combined type magnetic terrestrial reference can
To be changed according to demand, to adapt to the application in various situations, a kind of adaptable essence is provided for vehicle positioning system
High positioning datum source is spent, guarantee is provided to the positioning accuracy of vehicle positioning system.
Detailed description of the invention
Fig. 1 is Combined type magnetic terrestrial reference arrangement schematic diagram；
Fig. 2 is single magnetic terrestrial reference structural schematic diagram；
In figure, 1. stainless steel sheaths；2. magnet steel；3. screw thread.
Specific embodiment
It is further to a kind of Combined type magnetic terrestrial reference localization method progress proposed by the present invention with embodiment with reference to the accompanying drawing
Introduction:
A kind of Combined type magnetic terrestrial reference localization method is completed, each magnetic terrestrial reference packet based on one group of a number of magnetic terrestrial reference
It includes a magnet steel 2 and covers the stainless steel sheath 1 outside magnet steel 2,1 two sides of stainless steel sheath are reserved with screw thread 3；
This method the following steps are included:
Step 1, multiple magnetic terrestrial references linearly arrange, road surface that the distance between each magnetic terrestrial reference is laid as needed or
Place width determines, apart from selection range in 0.8m ∽ 1m；
Step 2, when Combined type magnetic terrestrial reference is arranged upward by the pole N of part of magnetic terrestrial reference, other magnetic terrestrial references
The pole S upward, forms a series of polar alignment form, it is desirable that the combinations of polarities of any several adjacent magnetic terrestrial references is different, group
It needs for the road surface laid or the laterally whole of place to be booked when mould assembly magnetic terrestrial reference is laid；
Step 3 forms one group of positioning when the quantity of Combined type magnetic terrestrial reference is not more than 10 with any 3 adjacent magnetic terrestrial references
In the case where identification coding, we are generallyd use the polar alignment form of Combined type magnetic terrestrial reference SSSNSNNNSS from left to right,
Guarantee that the polarity coding of any 3 magnetic terrestrial references is different；
When the quantity of Combined type magnetic terrestrial reference is excessively greater than 10, one group of fixation and recognition is formed with any 4 adjacent magnetic terrestrial references
In the case where coding, we are generallyd use the polar alignment of Combined type magnetic terrestrial reference SSSSNSSNNSNSNNNNSSS from left to right
Form guarantees that the polarity coding of any 4 magnetic terrestrial references is different, and the quantity of Combined type magnetic terrestrial reference is up to 19；
Step 4 distinguishes coding using binary number, it is specified that the pole S is indicated with 0 upward, then the pole N is upward with 1 come table
Show, the polar alignment situation of two kinds of Combined type magnetic terrestrial references indicates to be exactly 0001011100 He with binary coding in step 3
0000100110101111000；It needs the geographical coordinate by benchmark magnetic terrestrial reference to calibrate in use to come, every kind of positioning is known
Corresponding coding and coordinate storage are used as into database and are set to base by the geographic coordinate values that Bian Ma do not correspond to a benchmark magnetic terrestrial reference
It is quasi-.
Embodiment
The arrangement of Combined type magnetic terrestrial reference is illustrated as shown in Figure 1, be made of multiple magnetic terrestrial references, such as the B1 ∽ B10 in figure, one group
The quantity of Combined type magnetic terrestrial reference is the amount doesn't matter not necessarily 10, the road surface laid by magnetic terrestrial reference spacing to each other and needs or
Place width determines.The spacing of magnetic terrestrial reference can sets itself, depend on required positioning accuracy to be achieved when positioning, magnetic terrestrial reference
Its small positioning accuracy height as a reference source of distance, by taking the spacing 1m of magnetic terrestrial reference as an example, theoretic located lateral deviation
Between 0m ∽ 0.5m, the spacing of magnetic terrestrial reference can be determined with this.Signal interference can increase between the too small magnetic terrestrial reference of spacing, due to
Combined type magnetic terrestrial reference needs, which cover, entirely has a lot of social connections, therefore the quantity of magnetic terrestrial reference can also be increase accordingly, we are in practical applications
Often selection this spacing range of 0.8m ∽ 1m.
Single magnetic terrestrial reference structural representation is as shown in Fig. 2, core component is magnet steel 2, due to bury to road surface lower section, outer cover
Upper stainless steel sheath, since magnetic terrestrial reference magnetism is very big, adsorption capacity is very strong, screw thread 3 has been reserved in sheath two sides, when two magnetic
Terrestrial reference suction can be used the threaded disassembling tooling increase arm of force and be broken into two with one's hands after being combined together.
The polarity of magnetic terrestrial reference is divided into the pole N and the pole S, by the pole N of part of magnetic terrestrial reference when Combined type magnetic terrestrial reference is arranged
Upward, the pole S of other magnetic terrestrial references upward, forms a series of polar alignment form, it is desirable that any several adjacent magnetic terrestrial references
Combinations of polarities is different, and arrangement in this way can make the polarity of several magnetic terrestrial references of any position in Combined type magnetic terrestrial reference encode tool
There is uniqueness, to keep position positioning more accurate.Needing when Combined type magnetic terrestrial reference is laid will the road surface that be laid or place
It is laterally all booked, avoids the vehicle that need to be positioned from there is no magnetic terrestrial reference by lower section when the region, can not sense reference source signal
And it can not position.
Since the spacing of magnetic terrestrial reference is different with the quantity of different size that can make Combined type magnetic terrestrial reference is laid, usually in the application
If the quantity of Combined type magnetic terrestrial reference is not more than 10, we form one group of fixation and recognition using any 3 adjacent magnetic terrestrial references and compile
Code can be such that polarity code identification simplifies, if the quantity of Combined type magnetic terrestrial reference is excessively greater than 10, any 3 adjacent magnetic
Terrestrial reference forms the case where one group of fixation and recognition coding will duplicate coding, needs to increase code set in order to be booked road surface
The magnetic terrestrial reference quantity of conjunction is thus needed to be formed one group of fixation and recognition coding with any 4 adjacent magnetic terrestrial references, has increase accordingly knowledge
Other difficulty.
In the case where forming one group of fixation and recognition coding with any 3 adjacent magnetic terrestrial references, we generally use will be combined
The polar alignment form of magnetic terrestrial reference SSSNSNNNSS from left to right guarantees that the polarity of any 3 magnetic terrestrial references encodes different, group
The quantity of mould assembly magnetic terrestrial reference is up to 10.In the case where forming one group of fixation and recognition coding with any 4 adjacent magnetic terrestrial references, I
Generally use the polar alignment form of Combined type magnetic terrestrial reference SSSSNSSNNSNSNNNNSSS from left to right, guarantee any 4
The polarity coding of magnetic terrestrial reference is different, and the quantity of Combined type magnetic terrestrial reference is up to 19.
If distinguishing coding using binary number, it is specified that the pole S is indicated with 0 upward, the pole N is indicated with 1 upward, on
The polar alignment situation of two kinds of face Combined type magnetic terrestrial reference indicates to be exactly 0001011100 He with binary coding
0000100110101111000.Combined type magnetic terrestrial reference needs the geographical coordinate by benchmark magnetic terrestrial reference to calibrate in use
Come, every kind of fixation and recognition encodes the geographic coordinate values of a corresponding benchmark magnetic terrestrial reference, will correspond to coding and coordinate storage to data
It is used as in library and is set to benchmark.
Claims (1)
1. a kind of Combined type magnetic terrestrial reference localization method, it is characterised in that: this method is based on one group of a number of magnetic terrestrial reference come complete
At each magnetic terrestrial reference is including a magnet steel (2) and covers the stainless steel sheath (1) external in magnet steel (2), the stainless steel sheath
(1) two sides are reserved with screw thread (3)；
This method the following steps are included:
Step 1, multiple magnetic terrestrial references linearly arrange, the road surface or place that the distance between each magnetic terrestrial reference is laid as needed
Width determines, apart from selection range in 0.8m ∽ 1m；
Step 2, when Combined type magnetic terrestrial reference is arranged upward by the pole N of part of magnetic terrestrial reference, the pole S of other magnetic terrestrial references
Upward, a series of polar alignment form is formed, it is desirable that the combinations of polarities of any several adjacent magnetic terrestrial references is different, combined
It needs for the road surface laid or the laterally whole of place to be booked when magnetic terrestrial reference is laid；
Step 3 forms one group of fixation and recognition when the quantity of Combined type magnetic terrestrial reference is not more than 10 with any 3 adjacent magnetic terrestrial references
In the case where coding, we guarantee any 3 using by the polar alignment form of Combined type magnetic terrestrial reference SSSNSNNNSS from left to right
The polarity coding of a magnetic terrestrial reference is different；
When the quantity of Combined type magnetic terrestrial reference is excessively greater than 10, one group of fixation and recognition coding is formed with any 4 adjacent magnetic terrestrial references
In the case where, we guarantee using by the polar alignment form of Combined type magnetic terrestrial reference SSSSNSSNNSNSNNNNSSS from left to right
The polarity coding of any 4 magnetic terrestrial references is different, and the quantity of Combined type magnetic terrestrial reference is up to 19；
Step 4 distinguishes coding using binary number, it is specified that the pole S is indicated with 0 upward, then the pole N is indicated with 1 upward, step
The polar alignment situation of two kinds of Combined type magnetic terrestrial references indicates to be exactly 0001011100 He with binary coding in rapid three
0000100110101111000；It needs the geographical coordinate by benchmark magnetic terrestrial reference to calibrate in use to come, every kind of positioning is known
Corresponding coding and coordinate storage are used as into database and are set to base by the geographic coordinate values that Bian Ma do not correspond to a benchmark magnetic terrestrial reference
It is quasi-.
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| CN201510463338.5A CN106403961B (en) | 2015-07-31 | 2015-07-31 | A kind of Combined type magnetic terrestrial reference localization method |
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| CN106403961B true CN106403961B (en) | 2019-10-22 |
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| JP6828643B2 (en) * | 2017-09-12 | 2021-02-10 | 愛知製鋼株式会社 | Position acquisition system and position acquisition method |
| CN108052107B (en) * | 2018-01-19 | 2020-11-24 | 浙江科钛机器人股份有限公司 | AGV indoor and outdoor composite navigation system and method integrating magnetic stripes, magnetic nails and inertial navigation |
| CN116793339B (en) * | 2023-08-29 | 2023-11-07 | 深圳智荟物联技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
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| CN101866017B (en) * | 2010-06-13 | 2012-07-25 | 交通运输部公路科学研究所 | Magnetic positioning method of traffic vehicle based on displacement cyclic unique code |
| CN102680997A (en) * | 2012-05-31 | 2012-09-19 | 东南大学 | Magnetic navigation-assisted global positioning system (GPS)/inertial navigation system (INS) combined navigation positioning system and control method thereof |
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