CN108896956A - A kind of automatic guide vehicle positioning system and method based on ultra wide band - Google Patents
A kind of automatic guide vehicle positioning system and method based on ultra wide band Download PDFInfo
- Publication number
- CN108896956A CN108896956A CN201810582561.5A CN201810582561A CN108896956A CN 108896956 A CN108896956 A CN 108896956A CN 201810582561 A CN201810582561 A CN 201810582561A CN 108896956 A CN108896956 A CN 108896956A
- Authority
- CN
- China
- Prior art keywords
- wide band
- ultra wide
- location data
- guide vehicle
- automatic guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
-
- 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
- H04W4/024—Guidance services
-
- 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
Abstract
The present invention relates to a kind of automatic guide vehicle positioning system and method based on ultra wide band.The system includes the ultra wide band label model being fixed on automatic guide vehicle, omnidirectional's laser radar and processor and multiple ultra wide band base stations that position is fixed；The processor is used for：The ultra wide band location data of the automatic guide vehicle is determined according to the data interaction between the ultra wide band label model and multiple ultra wide band base stations；When transition occurs for the ultra wide band location data, the ultra wide band location data is corrected according to the radar detection data of omnidirectional's laser radar acquisition, obtains modified location data.Technical solution provided by the invention can guarantee to the accuracy of automatic guide vehicle location navigation, especially occur location navigation accuracy when barrier near automatic guide vehicle.
Description
Technical field
The present invention relates to location and navigation technology fields, and in particular to a kind of automatic guide vehicle positioning system based on ultra wide band
And method.
Background technique
AGV (Automated Guided Vehicle, automatic guide vehicle) is must in modern manufacturing and products storage circulation system
The production equipment wanted.Currently, mainly passing through magnetic stripe magnetic nail orientation direction, light orientation direction to the guidance mode of indoor AGV
It is realized with modes such as vision guided navigations.Wherein, magnetic stripe magnetic nail orientation direction mode is needed in provided underground magnetic devices, positioning
Precision is limited by laying density and sensor accuracy of identification；Light orientation direction mode needs to be laid with colored light band on ground,
Positioning accuracy is changed by light intensity and light belt is stained situation and is limited；The data operation quantity of vision guided navigation mode is very big, and to hard
Part requires height, causes cost of implementation higher.
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, also occurs carrying out AGV indoor positioning using its subnanosecond grade Ultra-short pulse in recent years.But
Its measurement accuracy will receive seriously affecting for barrier obstruction, and being greatly reduced for measurement accuracy will make AGV that can not accurately realize room
Interior positioning.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of automatic guide vehicle positioning system based on ultra wide band and side
Method.
In a first aspect, the present invention provides a kind of automatic guide vehicle positioning system based on ultra wide band, which includes solid
Multiple ultra wide bands that the ultra wide band label model, omnidirectional's laser radar and the processor that are scheduled on automatic guide vehicle and position are fixed
Base station；
The processor is used for：It is handed over according to the data between the ultra wide band label model and multiple ultra wide band base stations
Mutually determine the ultra wide band location data of the automatic guide vehicle；When transition occurs for the ultra wide band location data, according to described
The radar detection data of omnidirectional's laser radar acquisition corrects the ultra wide band location data, obtains modified location data.
Second aspect, the present invention provides a kind of automatic guide vehicle localization method based on ultra wide band are applied to above-mentioned system
System, this method include：
Step 1, automatic guide vehicle is determined according to the data interaction between ultra wide band label model and multiple ultra wide band base stations
Ultra wide band location data；
Step 2, it when transition occurs for the location data, is examined according to the radar of ultra wideband omni-directional laser radar acquisition
Measured data corrects the ultra wide band location data, obtains modified location data.
The beneficial effect of automatic guide vehicle positioning system and method provided by the invention based on ultra wide band is, indoors cloth
Multiple ultra wide band base stations are set, a ultra wide band label model is arranged on automatic guide vehicle, can be obtained based on super-broadband tech
Indoors with the label model of automatic guide vehicle operation respectively the distance between with multiple base stations, and then determine that automatic guide vehicle exists
Indoor ultra wide band location data, i.e. relative coordinate position.If the operation area of automatic guide vehicle is more spacious, ultra wide band
Location data can meet location navigation demand, but when operation area is there are when barrier, the accuracy of ultra wide band location data
It will decline to a great extent.When the ultra wide band location data generation transition of linear change under normal circumstances, adopted by omnidirectional's laser radar
The radar detection data of collection is verified, that is, the barrier that confirmation automatic guide vehicle nearby occurs results in ultra wide band positioning
When the anomalous variation of data, ultra wide band location data is modified, obtains the modified location data more to tally with the actual situation,
To guarantee especially occur positioning when barrier near automatic guide vehicle to the accuracy of automatic guide vehicle location navigation
Navigation accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is of the invention
Some embodiments for those of ordinary skill in the art without any creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural block diagram of the automatic guide vehicle positioning system based on ultra wide band of the embodiment of the present invention；
Fig. 2 is the flow diagram of the automatic guide vehicle localization method based on ultra wide band of the embodiment of the present invention.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, a kind of automatic guide vehicle positioning system based on ultra wide band of the embodiment of the present invention includes being fixed on
Multiple ultra-wide tape bases that ultra wide band label model, omnidirectional's laser radar and processor and position on automatic guide vehicle are fixed
It stands.
The processor is used for：It is handed over according to the data between the ultra wide band label model and multiple ultra wide band base stations
Mutually determine the ultra wide band location data of the automatic guide vehicle；When transition occurs for the ultra wide band location data, according to described
The radar detection data of omnidirectional's laser radar acquisition corrects the ultra wide band location data, obtains modified location data.
In the present embodiment, multiple ultra wide band base stations are arranged indoors, and a ultra wide band mark is arranged on automatic guide vehicle
Sign module, based on super-broadband tech can obtain indoors with automatic guide vehicle operation label model respectively with multiple base stations it
Between distance, and then determine automatic guide vehicle ultra wide band location data indoors, i.e. relative coordinate position.If automatic guidance
The operation area of vehicle is more spacious, then ultra wide band location data can meet location navigation demand, but when operation area has barrier
When hindering object, the accuracy of ultra wide band location data will decline to a great extent.When the ultra wide band location data of linear change under normal circumstances
It when transition occurs, is verified by the radar detection data that omnidirectional's laser radar acquires, that is, confirmation automatic guide vehicle is attached
When the barrier closely occurred results in the anomalous variation of ultra wide band location data, ultra wide band location data is modified, is obtained
The modified location data more to tally with the actual situation, to guarantee especially to exist to the accuracy of automatic guide vehicle location navigation
Nearby there is location navigation accuracy when barrier in automatic guide vehicle.
Positioning system based on UWB can be constructed using the Mini3s module based on Decawave DW1000 comprising peace
Base station ANCHOR loaded on label model TAG and multiple fixations different location indoors on AGV uses low ripple and high-precision
The design of crystal oscillator is spent, and is received and sent messages in a serial fashion.STM32F103T8U6 can be used in processor.Omnidirectional's laser radar can be adopted
With RPLidar A3.
Preferably, the processor is specifically used for：
It is determined between the ultra wide band label model and multiple ultra wide band base stations based on two-way pulsed-beam time-of-flight methods
Range information.
Specifically, two-way pulsed-beam time-of-flight methods (TW-TOF, Two Way-Time Of Flight) refer in two node moulds
Between block A, B, Ta1 moment of the modules A on its timestamp sends the pulse signal of request property, and module B is on its timestamp
Tb1 reception is to the signal, and after processing, Tb2 moment of the module B on its timestamp sends the signal of response property, quilt
Ta2 reception of the modules A on its timestamp.It thus can be according to formula S=C* [(Ta2-Ta1)-(Tb2-Tb1)]/2, really
Pulse signal is determined in two intermodule flying distances, and wherein C indicates the light velocity.
Polygon measurement and positioning method based on optimization, according to the base station coordinates of the ultra wide band base station and the range information
Obtain the coordinate information of the ultra wide band label model.
Specifically, traditional trilateration assumes that tested point is located at respectively using three base stations as three round friendships in the center of circle
At meeting point, it is based on Pythagorean theorem, is determined and is handed over using the relationship between the difference and the two of central coordinate of circle and joint coordinate distance
Meeting point, that is, the coordinate of tested point.But since the hardware differences of each base station and its caused TW-TOF calculate difference,
There is a certain error for the distance value for obtaining measurement, this will lead to above three circle and may not intersect at a point, according to tradition three
The coordinate information for the label model that side mensuration determines will be not accurate enough.It, will be above-mentioned by the polygon measurement and positioning method of optimization
Three circles are regarded as being intersected in a region, can effectively inhibit further to calculate error because of measurement error bring, from
And improve final automatic guide vehicle positioning accuracy.
Non-linear optimal filter is carried out to the coordinate information based on Extended Kalman filter method, obtains the ultra wide band
Location data.
Specifically, since ultra wide band belongs to wireless signal transmission techniques, during wireless transmission, data may also be generated
Transition forms nonlinear characteristic.Non-linear optimal filter is carried out to coordinate information based on Extended Kalman filter method, can be disappeared
Error caused by except transmitting because of system obtains accurate ultra wide band location data.
Extended Kalman filter (EKF, Extended Kalman Filter) expands to the range of Kalman filtering non-
On linear optimal filtering problem, Gaussian approximation is formed by the Joint Distribution of the state x and measurement y that convert based on Taylor series,
It proposes a kind of single order and second-order EKF device based on the transformation of linear and quadratic closeness, is using model：
Xk=f (Xk-1, k-1) and+Qk-1, yk=h (Xk, k) and+rk。
Wherein, Xk∈RnIt is state, yk∈RmIt is measured value, Qk-1It is processing noise, rkIt is measurement noise, f is dynamic model
Function, may be to be non-linear, and it may be non-linear that h, which is measurement model function,.
It is preferably based on frame synchornization method and is carried out between the ultra wide band label model and multiple ultra wide band base stations
For determining the data interaction of the range information.
While being calculated based on two-way pulsed-beam time-of-flight methods, label model and Ge Ji are guaranteed using frame synchornization method
It is mutually in step between standing.Namely when ultra wide band label model and ultra wide band base station carry out wireless signal transmission, label
Module issues a broadcast packet, and the fully synchronized base station of multiple clocks receives the broadcast packet from label model simultaneously, receives
After latter sentence TW-TOF obtains multiple groups temporal information, then coordinate information determined based on the polygon measurement and positioning method of optimization.In this way
The clock synchronous error between label model and base station can be reduced, makes to further increase the positioning accuracy of label model.
Preferably due to trilateration haves the defects that three circle intersections not concurrent, it is fixed using the polygon measurement of optimization
Position method calculates the coordinate information of ultra wide band label model.It is true according to multiple ultra wide band base stations difference with known coordinate first
Fixed the distance between each ultra wide band base station and ultra wide band label model accounting equation, the equation group that above-mentioned equation forms is transformed to
Linear equation is then based on least square method and solves the linear equation, obtains the coordinate information of ultra wide band label model.Namely
Processing implement body is also used to：
The number for enabling the ultra wide band base station is n, and the base station coordinates of the n ultra wide band base stations are respectively (x1,
y1),(x2,y2),…,(xn,yn), the tag coordinate of the ultra wide band label model is (x, y), the ultra wide band label model with
The range information between the n ultra wide band base stations is respectively d1,d2,…,dn, equation group is obtained, the equation group is：
Linear equation is obtained according to the equation group, that is, subtracts n-th of equation with preceding n-1 equation, it is described linear
Equation is：
AX=b, wherein
The linear equation is solved using least square method, obtains X=(ATA)-1ATB, X indicate the coordinate information.?
It is exactly
By the polygon measurement and positioning method of optimization can to avoid in measurement process using base station as three circles in the center of circle not
Measurement error caused by the case where being intersected at one improves the accuracy of location data by optimized calculation method.
Preferably, the processor is specifically used for：
When the ultra wide band location data calibration the moment occur transition, and the radar detection data instruction it is described from
There are when barrier in the calibration range of dynamic guide car, it is based on data sampling frequency, according to the sampling before the calibration moment
The ultra wide band location data that moment obtains obtains the modified location data.
If at the calibration moment transition occurs for ultra wide band location data, since it should be linear change under normal circumstances
, the point cloud information around automatic guide vehicle can get by omnidirectional's laser radar, and obtain 3D environmental map, can sentence at this time
Whether there is barrier around disconnected, if occurring barrier in calibration range, can determine that ultra wide band location data occurs
The reason of transition, derives from this.Since location data at this time, that is, range information are dramatically changed, with true value difference
Away from range information of the range information of previous sampling instant as the currently employed moment farther out, can be used, or can be according to it
The moving direction and speed of the range information estimation label model of preceding multiple sampling instants, obtain its variation tendency, then basis
This variation tendency is modified the range information of current sample time, such as increases on a certain specific direction certain opposite
Moving distance finally obtains modified location data.To avoid the different of ultra-wideband detection data caused by occurring because of barrier
Often variation improves the positioning accuracy to automatic guide vehicle.
As shown in Fig. 2, a kind of automatic guide vehicle localization method based on ultra wide band of the embodiment of the present invention includes：
Step 1, automatic guide vehicle is determined according to the data interaction between ultra wide band label model and multiple ultra wide band base stations
Ultra wide band location data.
Step 2, when transition occurs for the ultra wide band location data, according to the detections of radar number of omnidirectional's laser radar acquisition
According to the ultra wide band location data is corrected, modified location data is obtained.
Preferably, the step 1 specifically includes：
Step 1.1, it is determined between ultra wide band label model and multiple ultra wide band base stations based on two-way pulsed-beam time-of-flight methods
Range information.
Step 1.2, the polygon measurement and positioning method based on optimization, according to the base station coordinates of ultra wide band base station and the distance
The coordinate information of information acquisition ultra wide band label model.
Step 1.3, non-linear optimal filter is carried out to the coordinate information based on Extended Kalman filter method, obtains institute
State ultra wide band location data.
It is preferably based on frame synchornization method and carries out between ultra wide band label model and multiple ultra wide band base stations for determining
The data interaction of the range information.
Preferably, the step 1.2 is implemented as：
The number for enabling ultra wide band base station is n, and the base station coordinates of n ultra wide band base station are respectively (x1,y1),(x2,y2),…,
(xn,yn), the tag coordinate of ultra wide band label model is (x, y), between ultra wide band label model and n ultra wide band base station away from
It is respectively d from information1,d2,…,dn, equation group is obtained, the equation group is：
Linear equation is obtained according to the equation group, the linear equation is：
AX=b, wherein
The linear equation is solved using least square method, obtains X=(ATA)-1ATB, X indicate the coordinate information.
Preferably, the step 2 is implemented as：
When the ultra wide band location data calibration the moment occur transition, and the radar detection data instruction it is described from
There are when barrier in the calibration range of dynamic guide car, it is based on data sampling frequency, according to the sampling before the calibration moment
The ultra wide band location data that moment obtains obtains the modified location data.
Reader should be understood that in the description of this specification reference term " one embodiment ", " is shown " some embodiments "
The description of example ", specific examples or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of automatic guide vehicle positioning system based on ultra wide band, which is characterized in that the system comprises be fixed on to draw automatically
Multiple ultra wide band base stations that ultra wide band label model, omnidirectional's laser radar and processor and position on guide-car are fixed；
The processor is used for：It is true according to the data interaction between the ultra wide band label model and multiple ultra wide band base stations
The ultra wide band location data of the fixed automatic guide vehicle；When transition occurs for the ultra wide band location data, according to the omnidirectional
The radar detection data of laser radar acquisition corrects the ultra wide band location data, obtains modified location data.
2. automatic guide vehicle positioning system according to claim 1, which is characterized in that the processor is specifically used for：
The distance between the ultra wide band label model and multiple ultra wide band base stations are determined based on two-way pulsed-beam time-of-flight methods
Information；
Polygon measurement and positioning method based on optimization is obtained according to the base station coordinates of the ultra wide band base station and the range information
The coordinate information of the ultra wide band label model；
Non-linear optimal filter is carried out to the coordinate information based on Extended Kalman filter method, obtains the ultra wide band positioning
Data.
3. automatic guide vehicle positioning system according to claim 2, which is characterized in that based on frame synchornization method described super
The data interaction for determining the range information is carried out between broadband label model and multiple ultra wide band base stations.
4. automatic guide vehicle positioning system according to claim 3, which is characterized in that the processing implement body is also used to：
The number for enabling the ultra wide band base station is n, and the base station coordinates of the n ultra wide band base stations are respectively (x1,y1),
(x2,y2),…,(xn,yn), the tag coordinate of the ultra wide band label model is (x, y), and the ultra wide band label model and n are a
The range information between the ultra wide band base station is respectively d1,d2,…,dn, equation group is obtained, the equation group is：
Linear equation is obtained according to the equation group, the linear equation is：
AX=b, wherein
The linear equation is solved using least square method, obtains X=(ATA)-1ATB, X indicate the coordinate information.
5. automatic guide vehicle positioning system according to any one of claims 1 to 4, which is characterized in that the processing utensil
Body is used for：
When the ultra wide band location data calibration the moment occur transition, and the radar detection data instruction draw automatically described
There are when barrier in the calibration range of guide-car, it is based on data sampling frequency, according to the sampling instant before the calibration moment
The ultra wide band location data obtained obtains the modified location data.
6. a kind of automatic guide vehicle localization method based on ultra wide band, is based on applied to such as described in any one of claim 1 to 5
In the automatic guide vehicle positioning system of ultra wide band, which is characterized in that the method includes：
Step 1, the super of automatic guide vehicle is determined according to the data interaction between ultra wide band label model and multiple ultra wide band base stations
Broadband location data；
Step 2, it when transition occurs for the ultra wide band location data, is repaired according to the radar detection data that omnidirectional's laser radar acquires
The just described ultra wide band location data, obtains modified location data.
7. automatic guide vehicle localization method according to claim 6, which is characterized in that the step 1 specifically includes：
Step 1.1, the distance between ultra wide band label model and multiple ultra wide band base stations are determined based on two-way pulsed-beam time-of-flight methods
Information；
Step 1.2, the polygon measurement and positioning method based on optimization, according to the base station coordinates of ultra wide band base station and the range information
Obtain the coordinate information of ultra wide band label model；
Step 1.3, non-linear optimal filter is carried out to the coordinate information based on Extended Kalman filter method, obtained described super
Broadband location data.
8. automatic guide vehicle localization method according to claim 7, which is characterized in that based on frame synchornization method in ultra wide band
The data interaction for determining the range information is carried out between label model and multiple ultra wide band base stations.
9. automatic guide vehicle localization method according to claim 8, which is characterized in that the step 1.2 is implemented as：
The number for enabling ultra wide band base station is n, and the base station coordinates of n ultra wide band base station are respectively (x1,y1),(x2,y2),…,(xn,
yn), the tag coordinate of ultra wide band label model is (x, y), the distance between ultra wide band label model and n ultra wide band base station letter
Breath is respectively d1,d2,…,dn, equation group is obtained, the equation group is：
Linear equation is obtained according to the equation group, the linear equation is：
AX=b, wherein
The linear equation is solved using least square method, obtains X=(ATA)-1ATB, X indicate the coordinate information.
10. according to the described in any item automatic guide vehicle localization methods of claim 6 to 9, which is characterized in that the step 2
It is implemented as：
When the ultra wide band location data calibration the moment occur transition, and the radar detection data instruction draw automatically described
There are when barrier in the calibration range of guide-car, it is based on data sampling frequency, according to the sampling instant before the calibration moment
The ultra wide band location data obtained obtains the modified location data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810582561.5A CN108896956A (en) | 2018-06-07 | 2018-06-07 | A kind of automatic guide vehicle positioning system and method based on ultra wide band |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810582561.5A CN108896956A (en) | 2018-06-07 | 2018-06-07 | A kind of automatic guide vehicle positioning system and method based on ultra wide band |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108896956A true CN108896956A (en) | 2018-11-27 |
Family
ID=64344240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810582561.5A Pending CN108896956A (en) | 2018-06-07 | 2018-06-07 | A kind of automatic guide vehicle positioning system and method based on ultra wide band |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108896956A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109874101A (en) * | 2019-04-15 | 2019-06-11 | 东北大学 | A kind of Indoor Positioning System Using Ultra Wideband Radio and method based on Kalman filtering |
| CN109884586A (en) * | 2019-03-07 | 2019-06-14 | 广东工业大学 | Unmanned plane localization method, device, system and storage medium based on ultra-wide band |
| CN109974704A (en) * | 2019-03-01 | 2019-07-05 | 深圳市智能机器人研究院 | The robot and its control method that a kind of Global localization and local positioning are mutually calibrated |
| CN110133597A (en) * | 2019-06-04 | 2019-08-16 | 南开大学 | A kind of fusion and positioning method and system based on supersonic wave beacon system |
| CN110133589A (en) * | 2019-05-06 | 2019-08-16 | 苏州感测通信息科技有限公司 | A kind of parking garage high-accuracy position system based on UWB and Kalman |
| CN110366098A (en) * | 2019-07-05 | 2019-10-22 | 北京海益同展信息科技有限公司 | A kind of object localization method and the server for target positioning, base station |
| CN110864654A (en) * | 2019-11-28 | 2020-03-06 | 重庆大学 | Side slope deformation measurement method based on ultra wide band measurement |
| CN110927667A (en) * | 2019-11-21 | 2020-03-27 | 华南农业大学 | South small-area paddy field operation positioning system and method |
| CN110986952A (en) * | 2019-12-11 | 2020-04-10 | 东北大学 | High-precision anti-interference indoor positioning method for pedestrians |
| CN111637889A (en) * | 2020-06-15 | 2020-09-08 | 中南大学 | Tunneling machine positioning method and system based on inertial navigation and laser radar three-point distance measurement |
| CN114374926A (en) * | 2021-12-13 | 2022-04-19 | 北京长焜科技有限公司 | 4G/5G communication base station fusion method applying UWB positioning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040073364A1 (en) * | 2002-10-11 | 2004-04-15 | Jung Mun Ho | Method for estimating location of moving object in navigation system |
| CN103728644A (en) * | 2013-12-25 | 2014-04-16 | 李青花 | Positioning system and positioning method |
| CN105807775A (en) * | 2016-05-17 | 2016-07-27 | 上海酷哇机器人有限公司 | Movable robot with autonomous following and obstacle-avoidance function |
| CN106441306A (en) * | 2016-10-18 | 2017-02-22 | 华东师范大学 | Intelligent life detecting robot with capabilities of independent positioning and map building |
| CN106569493A (en) * | 2016-11-03 | 2017-04-19 | 中国科学院深圳先进技术研究院 | AGV cluster positioning method based on pulse ultra wide band technology and AGV scheduling method |
| CN107479483A (en) * | 2017-08-24 | 2017-12-15 | 成都源来来科技有限公司 | A kind of information acquisition terminal for goods entrucking |
| CN108012325A (en) * | 2017-10-30 | 2018-05-08 | 上海神添实业有限公司 | A kind of navigation locating method based on UWB and binocular vision |
-
2018
- 2018-06-07 CN CN201810582561.5A patent/CN108896956A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040073364A1 (en) * | 2002-10-11 | 2004-04-15 | Jung Mun Ho | Method for estimating location of moving object in navigation system |
| CN103728644A (en) * | 2013-12-25 | 2014-04-16 | 李青花 | Positioning system and positioning method |
| CN105807775A (en) * | 2016-05-17 | 2016-07-27 | 上海酷哇机器人有限公司 | Movable robot with autonomous following and obstacle-avoidance function |
| CN106441306A (en) * | 2016-10-18 | 2017-02-22 | 华东师范大学 | Intelligent life detecting robot with capabilities of independent positioning and map building |
| CN106569493A (en) * | 2016-11-03 | 2017-04-19 | 中国科学院深圳先进技术研究院 | AGV cluster positioning method based on pulse ultra wide band technology and AGV scheduling method |
| CN107479483A (en) * | 2017-08-24 | 2017-12-15 | 成都源来来科技有限公司 | A kind of information acquisition terminal for goods entrucking |
| CN108012325A (en) * | 2017-10-30 | 2018-05-08 | 上海神添实业有限公司 | A kind of navigation locating method based on UWB and binocular vision |
Non-Patent Citations (3)
| Title |
|---|
| DAVIDE DARDARI等: "《卫星及陆基无线电定位技术》", 30 June 2015 * |
| PAUL D. GROVES: "《GNSS与惯性及多传感器组合导航系统原理》", 31 March 2015 * |
| 董耀华等: "《物联网技术与应用》", 31 December 2011 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974704A (en) * | 2019-03-01 | 2019-07-05 | 深圳市智能机器人研究院 | The robot and its control method that a kind of Global localization and local positioning are mutually calibrated |
| CN109884586A (en) * | 2019-03-07 | 2019-06-14 | 广东工业大学 | Unmanned plane localization method, device, system and storage medium based on ultra-wide band |
| CN109874101A (en) * | 2019-04-15 | 2019-06-11 | 东北大学 | A kind of Indoor Positioning System Using Ultra Wideband Radio and method based on Kalman filtering |
| CN110133589A (en) * | 2019-05-06 | 2019-08-16 | 苏州感测通信息科技有限公司 | A kind of parking garage high-accuracy position system based on UWB and Kalman |
| CN110133597A (en) * | 2019-06-04 | 2019-08-16 | 南开大学 | A kind of fusion and positioning method and system based on supersonic wave beacon system |
| CN110366098B (en) * | 2019-07-05 | 2020-11-03 | 北京海益同展信息科技有限公司 | Target positioning method, server and base station for target positioning |
| CN110366098A (en) * | 2019-07-05 | 2019-10-22 | 北京海益同展信息科技有限公司 | A kind of object localization method and the server for target positioning, base station |
| CN110927667A (en) * | 2019-11-21 | 2020-03-27 | 华南农业大学 | South small-area paddy field operation positioning system and method |
| CN110864654A (en) * | 2019-11-28 | 2020-03-06 | 重庆大学 | Side slope deformation measurement method based on ultra wide band measurement |
| CN110986952A (en) * | 2019-12-11 | 2020-04-10 | 东北大学 | High-precision anti-interference indoor positioning method for pedestrians |
| CN110986952B (en) * | 2019-12-11 | 2023-06-02 | 东北大学 | High-precision anti-interference indoor positioning method for pedestrians |
| CN111637889A (en) * | 2020-06-15 | 2020-09-08 | 中南大学 | Tunneling machine positioning method and system based on inertial navigation and laser radar three-point distance measurement |
| CN114374926A (en) * | 2021-12-13 | 2022-04-19 | 北京长焜科技有限公司 | 4G/5G communication base station fusion method applying UWB positioning |
| CN114374926B (en) * | 2021-12-13 | 2023-09-15 | 北京长焜科技有限公司 | 4G/5G communication base station fusion method applying UWB positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108896956A (en) | A kind of automatic guide vehicle positioning system and method based on ultra wide band | |
| Cheng et al. | UWB indoor positioning algorithm based on TDOA technology | |
| CN104316903B (en) | A kind of three station positioning using TDOA performance test appraisal procedures | |
| CN103064057B (en) | Method of improving multipoint time-difference positioning accuracy | |
| CN103630875B (en) | Radio frequency identifying and positioning method and device | |
| CN109613584B (en) | UWB-based positioning and orientation method for unmanned card concentrator | |
| CN104619020A (en) | RSSI and TOA distance measurement based WIFI indoor positioning method | |
| CN105929364B (en) | Utilize the relative position measurement method and measuring device of radio-positioning | |
| CN105357754B (en) | A kind of mobile node combined positioning method based on wireless network | |
| CN110187333B (en) | RFID label positioning method based on synthetic aperture radar technology | |
| CN104297724A (en) | Positioning method and system | |
| CN111487587A (en) | Dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning | |
| CN108508404A (en) | A kind of localization method and system based on aerial array | |
| CN104569912A (en) | Single-station passive area positioning method for fixed monitoring station | |
| Zhang et al. | Review on UWB-based and multi-sensor fusion positioning algorithms in indoor environment | |
| Hu et al. | Accuracy improvement of indoor real-time location tracking algorithm for smart supermarket based on ultra-wideband | |
| Guanke et al. | Research on seamless positioning of power wearables based on GPS/UWB combination | |
| Cao et al. | Uwb based integrated communication and positioning system for multi-uavs close formation | |
| CN102288107B (en) | Ultra large geometric parameter measuring system self-calibration method based on guidance of wireless sensor network | |
| Wei et al. | Joint positioning technique based on TOF and TDOA | |
| CN112729304A (en) | Indoor and outdoor high-precision positioning system and positioning method for unmanned aerial vehicle | |
| Anderson et al. | Networked radar systems for cooperative tracking of UAVs | |
| CN115774238A (en) | Improved coal mine underground personnel positioning algorithm | |
| Pereira et al. | Multi-technology RF fingerprinting with leaky-feeder in underground tunnels | |
| CN112556695A (en) | Indoor positioning and three-dimensional modeling method and system, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181127 |