CN108848473A - A kind of vehicle positioning method based on UWB - Google Patents
A kind of vehicle positioning method based on UWB Download PDFInfo
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- CN108848473A CN108848473A CN201810375124.6A CN201810375124A CN108848473A CN 108848473 A CN108848473 A CN 108848473A CN 201810375124 A CN201810375124 A CN 201810375124A CN 108848473 A CN108848473 A CN 108848473A
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- locating base
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Navigation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of vehicle positioning methods based on UWB, belong to the technology of wireless positioning field, including：The electronic map is stored in a server-side by the electronic map for establishing a parking garage；Label is positioned in each one UWB of surface programming wait rush the vehicle of electricity；Multiple locating base stations are set at the top plate of the parking garage and the locating base station is shown in the electronic map；The server-side receives each UWB by the locating base station and positions the data packet that label issues, and the location information in the electronic map of the corresponding each vehicle of each UWB positioning label is obtained according to the data packet.The beneficial effect of the technical solution is：UWB positioning label is set in the vehicle wait rush electricity by the present invention, and more locating base station identifies the location information of vehicle, is provided with unique vehicle ID for each vehicle for waiting rushing electricity, unique parking stall ID is provided with for each charging parking stall, consequently facilitating managing.
Description
Technical field
The present invention relates to a kind of technology of wireless positioning field, specifically a kind of vehicle positioning method based on UWB.
Background technique
Location technology is divided into outdoor positioning technology and indoor positioning technologies.Outdoor positioning technology is by means of worldwide navigation positioning
System can be completed accurately to position using the direct communication between satellite and mobile object.Indoor positioning refers to ring indoors
Position positioning is realized in border, is mainly integrated to form a set of interior using multiple technologies such as wireless telecommunications, base station location, inertial navigation positioning
Position locating system, to realize the monitoring position indoors in space such as personnel, object.
UWB (Ultra Wideband, ultra wide band) is a kind of no-load communication techniques, using nanosecond to Microsecond grade it is non-just
String wave burst pulse transmits data.
UWB transmits data as a kind of no-load communication techniques, using the non-sinusoidal waveform burst pulse of nanosecond to picosecond grade.
By transmitting the signal of extremely low power on wider frequency spectrum, UWB can realize hundreds of Mbit/s extremely in the range of 10 meters or so
The message transmission rate of number Gbit/s.
Strong anti-interference performance, transmission rate is high, and the big transmission power of power system capacity is very small.UWB system emission power is very
Small, communication equipment can be achieved with communicating with the transmission power less than 1mW.Low transmitting power greatly prolongs system power supply work
Time.Moreover, transmission power is small, the influence of Electromagnetic Wave Radiation on Human also can very little.
Currently, electric automobile charging pile its be functionally similar to the fuel charger inside gas station, ground or wall can be fixed on
Wall is installed in public building and residential area parking lot or charging station, can be various models according to different voltage class
Electric car charging.When electric car is charged, need accurately to position the charging pile to charge, to ensure
Electric car can promptly and accurately carry out charging.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes a kind of vehicle positioning method based on UWB, bright to incite somebody to action
UWB positioning label is set in the vehicle wait rush electricity, and more locating base station identifies the location information of vehicle, waits rushing for each
The vehicle of electricity is provided with unique vehicle ID, is each charging parking stall provided with unique parking stall ID, and can by vehicle ID with
And parking stall ID matching, consequently facilitating management.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of vehicle positioning methods based on UWB, wherein suitable for parking garage wait rush electricity
The positioning of vehicle is equipped with several charging parking stalls in the parking garage, is correspondingly arranged a charging on each charging parking stall
Stake；
The electronic map of a parking garage is pre-established, and indicates each charging vehicle in the electronic map
Position, the electronic map are stored in a server-side；
One UWB of surface programming prior to each wait rush the vehicle of electricity positions label in advance；
In advance prior to multiple locating base stations are arranged at the top plate of the parking garage and the locating base station is shown in institute
Electronic map is stated, each locating base station is connected with the server-side；
As shown in Figure 1, the vehicle positioning method includes：
Step S1, the server-side receive each UWB by the locating base station and position the data packet that label issues；
Step S2, the server-side are corresponding each described according to each UWB positioning label of data packet acquisition
The location information in the electronic map of vehicle；
Step S3, the server-side will be preset described in the location information of the vehicle and the electronic map
Charging parking stall is matched, the charging parking stall being presently in the determination vehicle, and determines that the vehicle is current in turn
Need the charging pile to be used；
Step S4, whether the server-side judges the vehicle currently needs the charging gun of the charging pile to be used one
Connect in preset period of time with the vehicle：
It charges if so, the server-side controls the charging pile to the vehicle；
If it is not, then the server-side records the down time of the vehicle.
Preferably, it is somebody's turn to do the vehicle positioning method based on UWB, wherein each charging parking stall is equipped with a unique parking stall
ID, the server-side judge in each charging parking stall according to the location information of each vehicle with the presence or absence of wait rush
The vehicle of electricity, and the parking stall ID that the charging parking stall wait rush the electric vehicle will be present is marked in the electronics
Map.
Preferably, it is somebody's turn to do the vehicle positioning method based on UWB, wherein each vehicle presets a unique vehicle ID, institute
It states vehicle ID to be stored in the UWB positioning label of the vehicle, UWB positioning label is by the locating base station by institute
It states vehicle ID and is uploaded to the server-side.
Preferably, it is somebody's turn to do the vehicle positioning method based on UWB, wherein the vehicle ID is the license plate number of the vehicle.
Preferably, should vehicle positioning method based on UWB, wherein in the step S3, the server-side will be present to
Rush the parking stall ID of the charging parking stall of the vehicle of electricity and the vehicle of the vehicle on the charging parking stall
ID forms a two-dimensional array, and determines the charging parking stall that the vehicle is presently according to the two-dimensional array.
Preferably, it is somebody's turn to do the vehicle positioning method based on UWB, wherein the locating base station includes the first locating base station, second
Locating base station and third locating base station, in the step S2, the server-side obtains the location information of the vehicle
Process include the following steps：
Step S21, the server-side position label according to the UWB and issue the hair that the data packet obtains the data packet
Send the time；
Step S22, the server-side obtain first locating base station, second locating base station and described respectively
Three locating base stations receive the first arrival time, the second arrival time and third arrival time of the data packet；
Step S23, when the server-side is according to first arrival time of first locating base station and the transmission
Between make difference obtain the first propagation time；
The server-side is obtained according to second arrival time of second locating base station and the sending time as difference
Obtained for the second propagation time；
The server-side is obtained according to the third arrival time of the third locating base station and the sending time as difference
Obtain the third propagation time；
Step S24, the server-side are passed according to first propagation time, second propagation time and the third
The first distance between the UWB positioning label and first locating base station is obtained between sowing time respectively, the UWB positions label
Second distance, UWB positioning label between second locating base station and the third between the third locating base station
Distance；
Step S25, the server-side obtain institute according to the first distance, the second distance and third distance
State location information of the UWB positioning label in the electronic map.
Preferably, it is somebody's turn to do the vehicle positioning method based on UWB, wherein the end of the charging parking stall is equipped with a charging pile, institute
It states and is equipped with a correction locating base station being connected with the server-side in charging pile, the server-side passes through the correction locating base station
Obtain the UWB positioning the distance between the label and the charging pile for being located at the vehicle.
The beneficial effect of above-mentioned technical proposal is：
UWB positioning label is set in the vehicle wait rush electricity by the present invention, and more locating base station identifies the position of vehicle
Confidence breath is provided with unique vehicle ID for each vehicle for waiting rushing electricity, is provided with unique parking stall ID for each charging parking stall,
And vehicle ID and parking stall ID can be matched, consequently facilitating management.
Detailed description of the invention
Fig. 1 is the flow diagram of vehicle positioning method in preferred embodiment of the invention；
Fig. 2 is in preferred embodiment of the invention, and server-side obtains the process schematic of the location information of the vehicle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The present embodiment is related to a kind of vehicle positioning method based on UWB, wherein the electricity to be rushed suitable for parking garage
Vehicle positioning, several charging parking stalls are equipped in the parking garage, one is correspondingly arranged on each charging parking stall and fills
Electric stake；
The electronic map of a parking garage is pre-established, and indicates each charging vehicle in the electronic map
Position, the electronic map are stored in a server-side；
One UWB of surface programming prior to each wait rush the vehicle of electricity positions label in advance；
In advance prior to multiple locating base stations are arranged at the top plate of the parking garage and the locating base station is shown in institute
Electronic map is stated, each locating base station is connected with the server-side；
The vehicle positioning method includes：
Step S1, the server-side receive each UWB by the locating base station and position the data packet that label issues；
Step S2, the server-side are corresponding each described according to each UWB positioning label of data packet acquisition
The location information in the electronic map of vehicle；
Step S3, the server-side will be preset described in the location information of the vehicle and the electronic map
Charging parking stall is matched, the charging parking stall being presently in the determination vehicle, and determines that the vehicle is current in turn
Need the charging pile to be used；
Step S4, whether the server-side judges the vehicle currently needs the charging gun of the charging pile to be used one
Connect in preset period of time with the vehicle：
It charges if so, the server-side controls the charging pile to the vehicle；
If it is not, then the server-side records the down time of the vehicle.
Each charging parking stall is equipped with a unique parking stall ID, and server-side judges each fill according to the location information of each vehicle
With the presence or absence of the vehicle wait rush electricity in electric car position, and the parking stall ID of the charging parking stall of vehicle wait rush electricity will be present, and by parking stall
ID is marked in the electronic map.
Each vehicle presets a unique vehicle ID, and vehicle ID is stored in the UWB positioning label of vehicle, UWB positioning mark
Vehicle ID is uploaded to server-side by locating base station by label.
Vehicle ID is the license plate number of vehicle.
In the step S3, the vehicle of the charging parking stall of the vehicle wait rush electricity will be present in the server-side
The vehicle ID of position ID and the vehicle on the charging parking stall forms a two-dimensional array, and according to the two-dimensional array
Determine the charging parking stall that the vehicle is presently in.
As shown in Fig. 2, locating base station includes the first locating base station, the second locating base station and third locating base station, service
The process that end obtains the location information of vehicle includes the following steps：
Step S21, server-side position label according to UWB and issue the sending time that data packet obtains data packet；
Step S22, server-side obtain the first locating base station, the second locating base station and third locating base station respectively and receive number
According to the first arrival time, the second arrival time and third arrival time of packet；
Step S23, server-side make difference according to the first arrival time of the first locating base station and sending time and obtain the first biography
Between sowing time；
Server-side makees difference according to the second arrival time of the second locating base station and sending time and obtained for the second propagation time；
Server-side makees difference according to the third arrival time of third locating base station and sending time and obtains the third propagation time；
Step S24, server-side obtain respectively according to the first propagation time, the second propagation time and third propagation time
UWB position between first distance, UWB positioning label and the second locating base station between label and the first locating base station second away from
With a distance from third between, UWB positioning label and third locating base station；
Step S25, server-side obtain UWB positioning label in electronics according to first distance, second distance and third distance
Location information in map.
The end of charging parking stall is equipped with a charging pile, and a correction locating base station is equipped in charging pile, and server-side passes through correction
Locating base station obtains UWB positioning the distance between the label and charging pile for being located at vehicle.
In electronic chart, when parking the vehicle for needing to be rushed electricity in parking stall of charging, server-side is in electronic map by charging vehicle
Position spray colored yellow or red, in order to which user being capable of the occupied charging parking stall of identification promptly and accurately.
Vehicle positioning method based on UWB of the invention, compared with prior art：
UWB positioning label is set in the vehicle wait rush electricity by the present invention, and more locating base station identifies the position of vehicle
Confidence breath is provided with unique vehicle ID for each vehicle for waiting rushing electricity, is provided with unique parking stall ID for each charging parking stall,
And vehicle ID and parking stall ID can be matched, consequently facilitating management.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (7)
1. a kind of vehicle positioning method based on UWB, the positioning of the vehicle wait rush electricity suitable for parking garage, the room
It is equipped with several charging parking stalls in interior parking lot, is correspondingly arranged a charging pile on each charging parking stall, which is characterized in that
The electronic map of a parking garage is pre-established, and indicates each charging parking stall in the electronic map,
The electronic map is stored in a server-side；
One UWB of surface programming prior to each wait rush the vehicle of electricity positions label in advance；
In advance prior to multiple locating base stations are arranged at the top plate of the parking garage and the locating base station is shown in the electricity
Sub- map, each locating base station are connected with the server-side；
The vehicle positioning method includes：
Step S1, the server-side receive each UWB by the locating base station and position the data packet that label issues；
Step S2, the server-side obtain the corresponding each vehicle of each UWB positioning label according to the data packet
The location information in the electronic map；
Step S3, the server-side is by the preset charging in the location information of the vehicle and the electronic map
Parking stall is matched, the charging parking stall being presently in the determination vehicle, and determines that the vehicle currently needs in turn
The charging pile used；
Step S4, whether the server-side judges the vehicle currently needs the charging gun of the charging pile to be used default one
Connect in period with the vehicle：
It charges if so, the server-side controls the charging pile to the vehicle；
If it is not, then the server-side records the down time of the vehicle.
2. the vehicle positioning method according to claim 1 based on UWB, which is characterized in that each charging parking stall is set
There is a unique parking stall ID, the server-side judges each charging parking stall according to the location information of each vehicle
The interior vehicle with the presence or absence of wait rush electricity, and the parking stall ID of the charging parking stall wait rush the electric vehicle will be present
It marks in the electronic map.
3. the vehicle positioning method according to claim 2 based on UWB, which is characterized in that each vehicle default one
Unique vehicle ID, the vehicle ID are stored in the UWB positioning label of the vehicle, and the UWB positioning label passes through
The vehicle ID is uploaded to the server-side by the locating base station.
4. the vehicle positioning method according to claim 3 based on UWB, which is characterized in that in the step S3, described
The institute on the parking stall ID and the charging parking stall of the charging parking stall of the vehicle wait rush electricity will be present in server-side
The vehicle ID for stating vehicle forms a two-dimensional array, and described in determining that the vehicle is presently according to the two-dimensional array
Charging parking stall.
5. the vehicle positioning method according to claim 3 based on UWB, which is characterized in that the vehicle ID is the vehicle
License plate number.
6. the vehicle positioning method according to claim 5 based on UWB, which is characterized in that the locating base station includes the
One locating base station, the second locating base station and third locating base station,
In the step S2, the process that the server-side obtains the location information of the vehicle includes the following steps：
When step S21, the server-side position label according to the UWB and issue the data packet and obtain the transmission of the data packet
Between；
Step S22, it is fixed that the server-side obtains first locating base station, second locating base station and the third respectively
Position base station receives the first arrival time, the second arrival time and third arrival time of the data packet；
Step S23, the server-side are made according to first arrival time of first locating base station and the sending time
Difference obtained for the first propagation time；
The server-side makees difference according to second arrival time of second locating base station and the sending time and obtains the
Two propagation times；
The server-side makees difference according to the third arrival time of the third locating base station and the sending time and obtains the
Three propagation times；
Step S24, when the server-side is propagated according to first propagation time, second propagation time and the third
Between obtain first distance, UWB positioning label and institute between UWB positioning label and first locating base station respectively
State the third distance between second distance, UWB positioning label and the third locating base station between the second locating base station；
Step S25, the server-side is according to the first distance, the second distance and third distance acquisition
UWB positions location information of the label in the electronic map.
7. the vehicle positioning method according to claim 1 based on UWB, which is characterized in that the end of the charging parking stall
Equipped with a charging pile, a correction locating base station being connected with the server-side is equipped in the charging pile, the server-side passes through
The correction locating base station obtains the UWB positioning the distance between the label and the charging pile for being located at the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810375124.6A CN108848473A (en) | 2018-04-24 | 2018-04-24 | A kind of vehicle positioning method based on UWB |
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| CN201810375124.6A CN108848473A (en) | 2018-04-24 | 2018-04-24 | A kind of vehicle positioning method based on UWB |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109636986A (en) * | 2018-12-25 | 2019-04-16 | 深圳市金溢科技股份有限公司 | Management-control method, system and the car-mounted device of vehicle in a kind of garden |
| CN109785662A (en) * | 2019-02-22 | 2019-05-21 | 桂林电子科技大学 | A kind of shutdown system and method for indoor and outdoor integrated navigation |
| CN109795479A (en) * | 2018-12-10 | 2019-05-24 | 百度在线网络技术（北京）有限公司 | It parks control method, system and computer readable storage medium |
| CN110510142A (en) * | 2019-09-11 | 2019-11-29 | 中船重工海为郑州高科技有限公司 | Fall apart vehicle remote positioning and monitoring method for a kind of airport |
| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
| CN112566014A (en) * | 2020-11-04 | 2021-03-26 | 浙江吉利控股集团有限公司 | Wireless charging positioning system and method with cooperation of vehicle and parking space |
| CN113119968A (en) * | 2019-12-30 | 2021-07-16 | 广东博智林机器人有限公司 | Control system, method, electronic device, and storage medium for vehicle |
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| CN109795479A (en) * | 2018-12-10 | 2019-05-24 | 百度在线网络技术（北京）有限公司 | It parks control method, system and computer readable storage medium |
| CN109636986A (en) * | 2018-12-25 | 2019-04-16 | 深圳市金溢科技股份有限公司 | Management-control method, system and the car-mounted device of vehicle in a kind of garden |
| CN109785662A (en) * | 2019-02-22 | 2019-05-21 | 桂林电子科技大学 | A kind of shutdown system and method for indoor and outdoor integrated navigation |
| CN110510142A (en) * | 2019-09-11 | 2019-11-29 | 中船重工海为郑州高科技有限公司 | Fall apart vehicle remote positioning and monitoring method for a kind of airport |
| CN110775110A (en) * | 2019-11-07 | 2020-02-11 | 交控科技股份有限公司 | Train control system based on vehicle-to-vehicle communication |
| CN113119968A (en) * | 2019-12-30 | 2021-07-16 | 广东博智林机器人有限公司 | Control system, method, electronic device, and storage medium for vehicle |
| CN112566014A (en) * | 2020-11-04 | 2021-03-26 | 浙江吉利控股集团有限公司 | Wireless charging positioning system and method with cooperation of vehicle and parking space |
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