CN107884799A - The method that track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies - Google Patents
The method that track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies Download PDFInfo
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- CN107884799A CN107884799A CN201711077639.XA CN201711077639A CN107884799A CN 107884799 A CN107884799 A CN 107884799A CN 201711077639 A CN201711077639 A CN 201711077639A CN 107884799 A CN107884799 A CN 107884799A
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- rfid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of method that track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies, comprise the following steps：DGPS and RFID location system, DGPS are installed on unmanned vehicle with RFID location system all with Vehicle Controller to be connected, Vehicle Controller by the positioning distance measuring of DGPS systems and RFID location system progress vehicle with it is unmanned；Vehicle GPS and base station form DGPS, and the following positioning precision of sub-meter grade is obtained under conditions of having satellite-signal, realize the positioning of vehicle with it is unmanned；RFID beacons in the RFID reader and track installed on unmanned vehicle form RFID location system, and Vehicle Controller gets RFID location informations；Mutual location information being transmitted by wireless telecommunications between two vehicles on same track and being sent to Vehicle Controller, Vehicle Controller calculates the distance between vehicle according to the location information between vehicle, and control car speed realizes the unmanned of vehicle.The present invention can realize the whole real-time positioning distance measuring of unmanned vehicle, ensure the driving safety of unmanned vehicle.
Description
Technical field
The present invention relates to unmanned vehicle technology field, especially one kind to realize that track unmanned vehicle is complete based on RFID and DGPS technologies
The method of journey precise positioning.
Background technology
Unmanned vehicle in the case of no human intervention can discretionary security reach specify destination, wherein avoidance, positioning with
Navigation is the key problem of unmanned vehicle research.After effectively control unmanned vehicle motion, unmanned vehicle positioning turns into Navigation Control first
Solve the problems, such as.Unmanned vehicle indoors or has building etc. traditional GPS location can be because can not receive satellite in the case of blocking
Signal and can not complete to position, single location technology, easily cause positioning low precision or can not position.
The content of the invention
The technical problems to be solved by the invention are, there is provided one kind realizes track unmanned vehicle based on RFID and DGPS technologies
The method of whole precise positioning, the whole real-time positioning distance measuring of track unmanned vehicle can be realized, ensure the driving safety of unmanned vehicle.
In order to solve the above technical problems, the present invention provides one kind realizes track unmanned vehicle whole process based on RFID and DGPS technologies
The method of precise positioning, comprises the following steps：
(1) DGPS systems and RFID location system be installed on unmanned vehicle, DGPS systems and RFID location system all with car
Set controller is connected, and the positioning distance measuring that Vehicle Controller carries out vehicle by DGPS systems with RFID location system is driven with nobody
Sail；
(2) vehicle GPS forms DGPS with base station, and the following positioning precision of sub-meter grade is obtained under conditions of having satellite-signal,
Realize the positioning of vehicle with it is unmanned；
(3) the RFID beacons in the RFID reader and track installed on unmanned vehicle form RFID location system, vehicle-mounted
Controller gets RFID location informations；
(4) transmit mutual location information mutually by wireless telecommunications between two vehicles on same track and be sent to car
Set controller, Vehicle Controller calculate the distance between vehicle according to the location information between vehicle, and control car speed is realized
Vehicle it is unmanned.
Preferably, Vehicle Controller obtains the location information provided by DGPS and RFID reader simultaneously, when DGPS with
When RFID ranging informations are all effective, it is defined by smaller value；When DGPS ranging informations and RFID ranging informations have one it is invalid when, with
Another effective signal is defined；When DGPS ranging informations and RFID ranging informations are both invalid, suspension vehicle enters
Stop in emergency pattern.
Preferably, RFID installation is in orbit, and RFID electronics marks are stored with the chip of RFID
The accurate positional information of label, RFID is installed on unmanned vehicle and reads equipment, when unmanned vehicle passes through RFID electronics marks
During the side of signing, the reader on unmanned vehicle can read the information in RFID, obtain electronic tag id information and
Positional information.
Preferably, multiple RFIDs are continuously installed on track, when the distance between RFID is larger,
The current position of unmanned vehicle can be calculated according to the positional information of RFID and the speed of unmanned vehicle, d=d0+v*t,
Wherein, d0 is the position of RFID, and v is the speed of unmanned vehicle, and t is the time passed through.
Preferably, multiple RFIDs are continuously installed, when the distance between RFID is smaller on track
When, then the positioning of unmanned vehicle can be achieved according to the information for the RFID read.
Preferably, due to RFID and DGPS refresh rate difference, the position data being likely to be received in the case of 3 kinds, only
There are RFID data, only DGPS data, existing RFID data there are DGPS data again；System is using particle filter to server end
Position data handled, particle filter is all suitable for Arbitrary distribution noise, and can merge different sensors well
Data；Particle filter algorithm specifically includes following steps：
(1) particle collection initializes, k=0：For i=1,2 ..., N, by prior probability p (x0) generation sampling particle
(2) for k=1,2 ..., circulation performs following steps：
Importance sampling：For i=1,2 ..., N, the generation sampling example from importance probability densityCalculate
Particle weightsWherein p (x) is particle probabilities density function, and q (x) is importance letter
Number, Y is measurement data, and is normalized to obtain
Resampling：To particle collectionResampling is carried out, the particle collection after resampling is
Output：Calculate the state estimation at k moment：
Beneficial effects of the present invention are：The present invention perfectly merges DGPS and RFID technique, plays the excellent of respective maximum
Gesture, its positioning precision of DGPS can reach sub_meter position precision, can solve target positioning distance measuring under satellite-signal environment；
Under no satellite-signal environment, target positioning distance measuring is carried out using RFID location technologies, realized in orientation management system
Unitized information management；First by RFID technique and DGPS technological incorporation be applied to suspension type rail unmanned vehicle positioning distance measuring and
In control, full safety distance controlling is realized so that positioning precision reaches Centimeter Level, while enhances the anti-interference of algorithm,
More information are provided for the avoidance of suspension type rail unmanned vehicle；The RFID reader of the present invention can read RFID beacons on track
Radiofrequency signal, to obtain the positional information of dolly, then transmit mutual positional information mutually by wireless telecommunications, be particularly suitable for
The GPS location signal of this car can be sent to Adjacent vehicles by the range measurement of rail vehicle, the wireless communication function of dolly,
Positioning is carried out by gps signal in the case of having gps signal and measures the distance between two vehicles, in the situation of no gps signal
Under vehicle controlled by RFID range measurement, either GPS or RFID rangings, once distance is less than safe distance, then
Need to be controlled the speed of vehicle, the safety of support vehicles.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram of the present invention.
Embodiment
As shown in figure 1, a kind of method that track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies, including
Following steps：
(1) DGPS systems and RFID location system be installed on unmanned vehicle, DGPS systems and RFID location system all with car
Set controller is connected, and the positioning distance measuring that Vehicle Controller carries out vehicle by DGPS systems with RFID location system is driven with nobody
Sail；
(2) vehicle GPS forms DGPS with base station, and the following positioning precision of sub-meter grade is obtained under conditions of having satellite-signal,
Realize the positioning of vehicle with it is unmanned；
(3) the RFID beacons in the RFID reader and track installed on unmanned vehicle form RFID location system, vehicle-mounted
Controller gets RFID location informations；
(4) transmit mutual location information mutually by wireless telecommunications between two vehicles on same track and be sent to car
Set controller, Vehicle Controller calculate the distance between vehicle according to the location information between vehicle, and control car speed is realized
Vehicle it is unmanned.
For indoor and outdoor seamless positioning range-measurement system, DGPS location technologies can be used when there is satellite-signal, but
Under complex environment, due to decaying and blocking, positioning precision declines satellite-signal, can now be carried out using RFID location technologies
Make up.The system reaches the mesh for improving positioning precision by using wave filter combining RFID location data and DGPS location datas
, seamless spliced positioning fusion is realized under complex environment.The GPS location data and RFID of vehicle are positioned number by Vehicle Controller
According to wireless telecommunications system is sent to, GPS location data are transmitted in the wireless telecommunications on same track on two vehicles mutually and RFID determines
Position data message, and sends the data to Vehicle Controller, control the full safety distance of vehicle with it is unmanned.System works
Flow is as follows：
(1) time difference between master reference and other sensors is determined, accomplishes clock synchronization；
(2) GPS obtains location information by base station, and location information is sent into Vehicle Controller again by Vehicle Controller
It is sent to Wireless Telecom Equipment；
(3) two vehicles on same track obtain mutually positioning and the ranging data of other side by wireless telecommunications, pass through
The RFID positional informations and GPS position information that wireless telecommunications obtain are sent to Vehicle Controller (if any positional information)；
(4) Vehicle Controller obtains RFID location informations and GPS location ranging information, is transmitted mutually by wireless telecommunications
It is then forwarded to Vehicle Controller after location information, Vehicle Controller is by GPS coordinate and RFID location data binding analysis, finally
It is seamless spliced to determine that target position information is accomplished.
Due to the difference of RFID and DGPS refresh rate, the position data being likely to be received in the case of 3 kinds, only RFID numbers
There are DGPS data again according to, only DGPS data, existing RFID data.Positional number of the system using particle filter to server end
According to being handled, particle filter is all suitable for Arbitrary distribution noise, and can merge the data of different sensors well.Grain
Subfilter algorithm specifically includes following steps：
(1) particle collection initializes, k=0：For i=1,2 ..., N, by prior probability p (x0) generation sampling particle
(2) for k=1,2 ..., circulation performs following steps：
Importance sampling：For i=1,2 ..., N, the generation sampling example from importance probability densityCalculate
Particle weightsWherein p (x) is particle probabilities density function, and q (x) is importance letter
Number, Y is measurement data, and is normalized to obtain
Resampling：To particle collectionResampling is carried out, the particle collection after resampling is
Output：Calculate the state estimation at k moment：
RFID installation is in orbit, and the accurate of RFID is stored with the chip of RFID
Positional information, RFID is installed on unmanned vehicle and reads equipment, when unmanned vehicle is by above RFID,
Reader on unmanned vehicle can read the information in RFID, obtain the id information and positional information of electronic tag.
Multiple RFIDs are continuously installed, when the distance between RFID is larger, according to RFID electronics marks on track
The positional information of label and the speed of unmanned vehicle can calculate the current position of unmanned vehicle, d=d0+v*t, wherein, d0 RFID
The position of electronic tag, v are the speed of unmanned vehicle, and t is the time passed through.Multiple RFIDs are continuously installed on track,
When the distance between RFID is smaller, then unmanned vehicle can be achieved according to the information for the RFID read
Positioning.
DGPS and RFID location algorithms are combined by the present invention, realize the full safety distance controlling of positioning target.Should
It is perfectly to merge DGPS and RFID technique with scheme advantage, plays each maximum advantage.DGPS its positioning precision can be with
Reach sub_meter position precision, can solve target positioning distance measuring under satellite-signal environment；Under no satellite-signal environment,
We employ RFID location technologies to solve the target positioning distance measuring under this environment.Realized in orientation management system unified
Change information management.Positioning distance measuring and the control that RFID technique and DGPS technological incorporation are applied to suspension type unmanned vehicle are realized first
On, realize full safety distance controlling so that positioning precision reaches Centimeter Level, while strengthens the anti-interference of algorithm, for suspension
The avoidance of vehicle provides more information.
The RFID reader of the present invention can read the radiofrequency signal of RFID beacons on track, to obtain the position of dolly letter
Breath, then transmit mutual positional information mutually by wireless telecommunications.Be particularly suitable for the range measurement of rail vehicle, dolly it is wireless
Communication function, the GPS location signal of this car can be sent to Adjacent vehicles, pass through gps signal in the case where there is gps signal
Carry out positioning and measure the distance between two vehicles, car is controlled by RFID range measurement in the case of no gps signal
, either GPS or RFID rangings, once distance is less than safe distance, then need to be controlled the speed of vehicle, ensure
The safety of vehicle.
Although the present invention is illustrated and described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (6)
- A kind of 1. method that track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies, it is characterised in that including Following steps：(1) DGPS systems and RFID location system be installed on unmanned vehicle, DGPS systems and RFID location system all with vehicle-mounted control Device processed is connected, Vehicle Controller by DGPS systems and RFID location system carry out the positioning distance measuring of vehicle with it is unmanned；(2) vehicle GPS forms DGPS with base station, and the following positioning precision of sub-meter grade is obtained under conditions of having satellite-signal, realizes The positioning of vehicle with it is unmanned；(3) the RFID beacons in the RFID reader and track installed on unmanned vehicle form RFID location system, vehicle-mounted control Device gets RFID location informations；(4) transmit mutual location information mutually by wireless telecommunications between two vehicles on same track and be sent to vehicle-mounted control Device processed, Vehicle Controller calculate the distance between vehicle according to the location information between vehicle, and control car speed realizes vehicle It is unmanned.
- 2. the method for track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies as claimed in claim 1, its It is characterised by, Vehicle Controller obtains the location information provided by DGPS and RFID reader simultaneously, as DGPS and RFID rangings When information is all effective, it is defined by smaller value；When DGPS ranging informations and RFID ranging informations have one it is invalid when, with another Effective signal is defined；When DGPS ranging informations and RFID ranging informations are both invalid, suspension vehicle, which enters, to stop in emergency Pattern.
- 3. the method for track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies as claimed in claim 1, its It is characterised by, RFID installation is in orbit, and the standard of RFID is stored with the chip of RFID True positional information, RFID is installed on unmanned vehicle and reads equipment；When unmanned vehicle is by above RFID When, the reader on unmanned vehicle can read the information in RFID, obtain the id information and position letter of electronic tag Breath.
- 4. the method for track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies as claimed in claim 1, its It is characterised by, multiple RFIDs is continuously installed on track, when the distance between RFID is larger, according to The positional information of RFID and the speed of unmanned vehicle can calculate the current position of unmanned vehicle, d=d0+v*t, its In, d0 is the position of RFID, and v is the speed of unmanned vehicle, and t is the time passed through.
- 5. the method for track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies as claimed in claim 1, its It is characterised by, multiple RFIDs is continuously installed on track, when the distance between RFID is smaller, then root The positioning of unmanned vehicle can be achieved according to the information for the RFID read.
- 6. the method for track unmanned vehicle whole process precise positioning is realized based on RFID and DGPS technologies as claimed in claim 2, its It is characterised by, due to the difference of RFID and DGPS refresh rate, the only position data being likely to be received in the case of 3 kinds, RFID Data, only DGPS data, existing RFID data have DGPS data again；Position of the system using particle filter to server end Data are handled, and particle filter is all suitable for Arbitrary distribution noise, and can merge the data of different sensors well； Particle filter algorithm specifically includes following steps：(1) particle collection initializes, k=0：For i=1,2 ..., N, by prior probability p (x0) generation sampling particle(2) for k=1,2 ..., circulation performs following steps：Importance sampling：For i=1,2 ..., N, the generation sampling example from importance probability densityCalculate particle power WeightWherein p (x) is particle probabilities density function, and q (x) is importance function, and Y is Measurement data, and be normalized to obtainResampling：To particle collectionResampling is carried out, the particle collection after resampling isOutput：Calculate the state estimation at k moment：
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109116388A (en) * | 2018-10-29 | 2019-01-01 | 山东钢铁集团日照有限公司 | A kind of hot-metal car fast accurate GPS signal correction localization method |
| CN109598165A (en) * | 2018-12-05 | 2019-04-09 | 华南农业大学 | A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID |
| CN110116740A (en) * | 2019-05-27 | 2019-08-13 | 江苏飞梭智行设备有限公司 | Rail vehicle positioning device based on calculations of offset, system and method |
| CN110377020A (en) * | 2018-09-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The running method of unmanned equipment, device and system |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
| CN112904389A (en) * | 2020-12-29 | 2021-06-04 | 上海富欣智能交通控制有限公司 | Rail vehicle positioning system and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110377020A (en) * | 2018-09-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The running method of unmanned equipment, device and system |
| CN109116388A (en) * | 2018-10-29 | 2019-01-01 | 山东钢铁集团日照有限公司 | A kind of hot-metal car fast accurate GPS signal correction localization method |
| CN109598165A (en) * | 2018-12-05 | 2019-04-09 | 华南农业大学 | A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID |
| CN109598165B (en) * | 2018-12-05 | 2024-05-28 | 华南农业大学 | Rail car positioning system and method based on high-frequency RFID double readers |
| CN110116740A (en) * | 2019-05-27 | 2019-08-13 | 江苏飞梭智行设备有限公司 | Rail vehicle positioning device based on calculations of offset, system and method |
| CN110116740B (en) * | 2019-05-27 | 2024-03-08 | 江苏飞梭智行设备有限公司 | Rail vehicle positioning device, system and method based on offset calculation |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
| CN112904389A (en) * | 2020-12-29 | 2021-06-04 | 上海富欣智能交通控制有限公司 | Rail vehicle positioning system and method |
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