CN108089180A - Based on UWB sensors as back indicator to the localization method of GPS and inertial navigation system the suspension type rail vehicle corrected - Google Patents
Based on UWB sensors as back indicator to the localization method of GPS and inertial navigation system the suspension type rail vehicle corrected Download PDFInfo
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- CN108089180A CN108089180A CN201711362893.4A CN201711362893A CN108089180A CN 108089180 A CN108089180 A CN 108089180A CN 201711362893 A CN201711362893 A CN 201711362893A CN 108089180 A CN108089180 A CN 108089180A
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- inertial navigation
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
Abstract
The invention discloses a kind of localization methods for the suspension type rail vehicle corrected based on UWB sensors as back indicator to GPS and inertial navigation system, GPS positioning system, inertial navigation system and UWB alignment systems, GPS positioning system, inertial navigation system and UWB alignment systems are installed with Vehicle Controller to be connected in railcar；After Vehicle Controller obtains UWB location informations, inertial navigation system initial position message is updated；When GPS signal is invalid, by being weighted to obtain accurate positioning result to UWB location informations and inertial navigation system location information；When GPS signal is effective, Vehicle Controller operation particle filter algorithm, by particle filter to UWB location informations, GPS positioning information and inertial navigation location information carry out the data fusion of multisensor.UWB technology is combined by the present invention with GPS technology and inertial navigation technology, is overcome single location technology deficiency, is realized being accurately positioned for track vehicle, ensure the safe and reliable of the whole-process automatic traveling of railcar.
Description
Technical field
It is especially a kind of to GPS and to be used to as back indicator based on UWB sensors the present invention relates to unmanned vehicle technology field
Property navigation system correction suspension type rail vehicle localization method.
Background technology
Suspension type rail vehicle is a kind of light-duty, middling speed, the novel traffic of middle freight volume, have it is economical, conveniently, safely, it is complete from
The features such as dynamicization, has broad application prospects in terms of traffic passenger.Suspension type rail vehicle in the process of running it is whole nobody drive
It sails, it is desirable that vehicle has the function of automatic obstacle avoiding, navigation etc., and wherein placement technology is the weight for realizing vehicle safety automatic Pilot
It ensures.
Traditional positioning GPS (Global Positioning System) technology, indoors or has building to block
When, satellite-signal is blocked or decays, and GPS location precision is caused drastically to decline.Single location technology existing defects, it is impossible to complete
The high accuracy positioning of all risk insurance card vehicle and safety traffic, can this requires use that the fusion of a variety of localization methods ensures vehicles operation
By property.Inertial navigation system obtains the fortune of vehicle using the data of inertial sensor (acceleration transducer, gyroscope, magnetometer)
Dynamic feature, reckoning obtain the location information of vehicle, but inertial sensor is due to Random Drift Error and noise error, when long
Between position when can generate accumulated error, positioning accuracy is caused to decline, inertial navigation can be corrected with reference to UWB wireless location systems
The accumulated error of system.
The content of the invention
The technical problems to be solved by the invention are, provide one kind and are based on UWB sensors as back indicator to GPS
The localization method for the suspension type rail vehicle corrected with inertial navigation system can ensure the peace of the whole-process automatic traveling of unmanned railcar
Full reliability.
In order to solve the above technical problems, the present invention, which provides one kind, is based on UWB sensors as back indicator to GPS and inertia
The localization method of the suspension type rail vehicle of navigation system correction, includes the following steps：
(1) GPS positioning system, inertial navigation system and UWB alignment systems are installed in railcar, GPS positioning system is used to
Property navigation system and UWB alignment systems are connected with Vehicle Controller；This vehicle location information is sent to Vehicle Controller, vehicle-mounted control
Device processed obtains the location information of front truck by wireless communication device, and track is realized by this vehicle location information and front truck location information
Workshop ranging and automatic Pilot；
(2) vehicle GPS alignment system forms DGPS with base station, and it is fixed below sub-meter grade to be obtained under conditions of having satellite-signal
Position precision；
(3) railcar installation inertial navigation system, is resolved by the acceleration, angular speed, Geomagnetism Information that measure vehicle
To the location information of railcar；
(4) UWB alignment systems are made of the UWB readers being mounted in railcar and installation UWB beacons in orbit,
After Vehicle Controller obtains UWB location informations, GPS positioning system location information and inertial navigation system location information are corrected.
Preferably, in step (4), UWB beacon installation sites are fixed, and coordinate information and orbital direction are included in UWB beacons
Information after railcar drives into UWB beacons effective identification range, passes through vehicle-mounted UWB alignment systems and obtains vehicle and fixed UWB
The distance between beacon and direction, so as to obtain the location information of vehicle.
Preferably, in step (4), when satellite-signal is decayed or blocked, Vehicle Controller receives UWB location informations
With inertial navigation system location information, corrected by being weighted to UWB location informations and inertial navigation system location information；When
When satellite-signal is good, Vehicle Controller receives UWB location informations, GPS positioning information and inertial navigation system location information,
Data fusion is carried out by particle filter, improves system entirety positioning accuracy.
Preferably, in step (4), when railcar is travelled to UWB beacon present positions, the two distance is most short, and signal is strong
Degree is most strong, uses the UWB positioning information update inertial navigation system initial position messages of the position.
Preferably, in step (4), when GPS signal is invalid, to UWB location informations and inertial navigation system location information
It is weighted to obtain accurate positioning result, the positioning result p=α p after weightingUWB+βpINS, wherein pUWBAnd pINSRespectively
For the positioning result of UWB alignment systems and inertial navigation system, α, β are weighting coefficient, are adjusted according to actual environment factor, and α+
β=1.
Preferably, in step (4), when GPS signal is effective, Vehicle Controller operation particle filter algorithm passes through grain
For subfilter to UWB location informations, GPS positioning information and inertial navigation location information carry out the data fusion of multisensor；Grain
Subfilter is all suitable for Arbitrary distribution noise, and can merge the data of different sensors well；Particle filter algorithm
Specifically include following steps：
A) particle collection initializes, k=0：For i=1,2 ..., N, by prior probability p (x0) generation sampling particle
B) for k=1,2 ..., cycle performs following steps：
Importance sampling：For i=1,2 ..., N, the generation sampling example from importance probability densityIt calculates
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：UWB technology is combined by the present invention with GPS technology and inertial navigation technology, is overcome
Single location technology deficiency, realizes being accurately positioned for track unmanned vehicle.GPS technology is ripe to be applied to outdoor positioning scene,
But when building is more intensive, satellite-signal is blocked attenuation and multipath effect, and GPS positioning system error is caused to increase
Greatly, inertial navigation system influences from ambient environmental factors, can make up the deficiency of GPS technology, but its there are initial position not
It easily determines and positions the problems such as accumulated error is big for a long time.UWB technology has high time resolution, reachable centimetre of positioning accuracy
Grade, it is possible to provide the initial position message of inertial navigation system and elimination accumulation position error.Vehicle Controller uses particle filter
Device realizes the fusion of the location information of multisensor, effectively improves track unmanned vehicle entirety positioning accuracy, enhances to complex environment
Anti-interference, ensure the whole-process automatic traveling of track unmanned vehicle it is safe and reliable.
Description of the drawings
Fig. 1 is the method flow schematic diagram of the present invention.
Specific embodiment
As shown in Figure 1, a kind of suspension corrected based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, includes the following steps：
(1) GPS positioning system, inertial navigation system and UWB alignment systems are installed in railcar, GPS positioning system is used to
Property navigation system and UWB alignment systems are connected with Vehicle Controller；This vehicle location information is sent to Vehicle Controller, vehicle-mounted control
Device processed obtains the location information of front truck by wireless communication device, and track is realized by this vehicle location information and front truck location information
Workshop ranging and automatic Pilot；
(2) vehicle GPS alignment system forms DGPS with base station, and it is fixed below sub-meter grade to be obtained under conditions of having satellite-signal
Position precision；
(3) railcar installation inertial navigation system, is resolved by the acceleration, angular speed, Geomagnetism Information that measure vehicle
To the location information of railcar；
(4) UWB alignment systems are made of the UWB readers being mounted in railcar and installation UWB beacons in orbit,
After Vehicle Controller obtains UWB location informations, GPS positioning system location information and inertial navigation system location information are corrected.
UWB beacon installation sites determine, it is known that comprising information such as coordinate information, orbital directions in UWB beacons, to work as railcar
After driving into the effective identification range of UWB beacons, it can be obtained between vehicle and fixed UWB beacons by vehicle-mounted UWB alignment systems
Distance and direction, so as to obtain the location information of vehicle.
The initial position message of inertial navigation system is determined by UWB alignment systems, is believed when track unmanned vehicle is travelled to UWB
When marking present position, the two distance is most short, signal strength is most strong, and UWB positioning results are relatively more accurate, use the position
UWB positioning information update inertial navigation system initial position messages.
When satellite-signal is decayed or blocked, Vehicle Controller receives UWB location informations and inertial navigation system is determined
Position information, by being corrected to UWB location informations and the weighting of inertial navigation system location information；When satellite-signal is good,
Vehicle Controller receives UWB location informations, GPS positioning information and inertial navigation system location information, passes through particle filter
Data fusion is carried out, improves system entirety positioning accuracy.
When GPS signal is invalid, track unmanned vehicle is in UWB beacons and reads in effective range and not in inertial navigation system
It is relatively accurate by being weighted to obtain to UWB location informations and inertial navigation system location information during original state more new position
Positioning result.
When GPS signal is good, Vehicle Controller operation particle filter algorithm positions UWB by particle filter and believes
Breath, GPS positioning information and inertial navigation location information carry out the data fusion of multisensor.Particle filter is based on Meng Teka
Lip river method, its approximate distribution of random particles is sampled from posterior probability, imparametrization is all suitable for arbitrary noise profile, can
To merge the data of different sensors well.The location information data of multisensor are merged using particle filter,
The positioning accuracy and operation stability of vehicle can be significantly promoted, realizes the automatic safety traveling of track unmanned vehicle.
Although the present invention is illustrated and has been 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)
1. a kind of determine GPS and inertial navigation system the suspension type rail vehicle corrected as back indicator based on UWB sensors
Position method, which is characterized in that include the following steps：
(1) GPS positioning system, inertial navigation system and UWB alignment systems, GPS positioning system, inertia are installed to lead in railcar
Boat system and UWB alignment systems are connected with Vehicle Controller；This vehicle location information is sent to Vehicle Controller, Vehicle Controller
The location information of front truck is obtained by wireless communication device, track workshop is realized by this vehicle location information and front truck location information
Ranging and automatic Pilot；
(2) vehicle GPS alignment system forms DGPS with base station, and the following positioning accurate of sub-meter grade is obtained under conditions of having satellite-signal
Degree；
(3) railcar installation inertial navigation system, resolves to obtain rail by the acceleration, angular speed, Geomagnetism Information that measure vehicle
The location information of road vehicle；
(4) UWB alignment systems are made of the UWB readers being mounted in railcar and installation UWB beacons in orbit, vehicle-mounted
After controller obtains UWB location informations, GPS positioning system location information and inertial navigation system location information are corrected.
2. the suspension corrected as described in claim 1 based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, which is characterized in that in step (4), UWB beacon installation sites are fixed, and position is included in UWB beacons
Information and orbital direction information after railcar drives into UWB beacons effective identification range, pass through vehicle-mounted UWB alignment systems and obtain
The distance between vehicle and fixed UWB beacons and direction, so as to obtain the location information of vehicle.
3. the suspension corrected as described in claim 1 based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, which is characterized in that in step (4), when satellite-signal is decayed or blocked, Vehicle Controller connects
UWB location informations and inertial navigation system location information are received, by UWB location informations and inertial navigation system location information
Weighting is corrected；When satellite-signal is good, Vehicle Controller receives UWB location informations, and GPS positioning information and inertia are led
Navigate system location information, carries out data fusion by particle filter, improves system entirety positioning accuracy.
4. the suspension corrected as described in claim 1 based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, which is characterized in that in step (4), when railcar is travelled to UWB beacon present positions, the two
Distance is most short, and signal strength is most strong, uses the UWB positioning information update inertial navigation system initial position messages of the position.
5. the suspension corrected as described in claim 1 based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, which is characterized in that in step (4), when GPS signal is invalid, led to UWB location informations and inertia
Boat system location information is weighted to obtain accurate positioning result, the positioning result p=α p after weightingUWB+βpINS,
Middle pUWBAnd pINSThe respectively positioning result of UWB alignment systems and inertial navigation system, α, β is weighting coefficient, according to actual rings
Border factor adjustment, and alpha+beta=1.
6. the suspension corrected as described in claim 1 based on UWB sensors as back indicator to GPS and inertial navigation system
The localization method of formula railcar, which is characterized in that in step (4), when GPS signal is effective, Vehicle Controller operation particle filter
Ripple device algorithm, to UWB location informations, the data fusion of GPS positioning information and inertial navigation location information progress multisensor；Grain
Subfilter is all suitable for Arbitrary distribution noise based on monte carlo method, particle filter, and can well merge not
With the data of sensor；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 ..., cycle 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 obtain
Resampling：To particle collectionResampling is carried out, the particle collection after resampling is
Output：Calculate the state estimation at k moment：
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| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN110585640A (en) * | 2019-09-23 | 2019-12-20 | 应急管理部四川消防研究所 | Monitoring system applied to rail train fire extinguisher and tracking and positioning method |
| CN110753301A (en) * | 2018-07-06 | 2020-02-04 | 北京金坤科创技术有限公司 | Strange scene-oriented indoor positioning system and method |
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