CN109613584B - UWB-based positioning and orientation method for unmanned card concentrator - Google Patents
UWB-based positioning and orientation method for unmanned card concentrator Download PDFInfo
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- CN109613584B CN109613584B CN201811608020.1A CN201811608020A CN109613584B CN 109613584 B CN109613584 B CN 109613584B CN 201811608020 A CN201811608020 A CN 201811608020A CN 109613584 B CN109613584 B CN 109613584B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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Abstract
The invention relates to a UWB-based positioning and orientation method of an unmanned card concentrator, which is characterized in that: the UWB equipment which can be used as a base station and a label is installed, the positioning and the orientation based on the UWB are corrected by utilizing the double-antenna positioning and the orientation of the GNSS satellite signal of the vehicle, and the accurate positioning and the orientation of the unmanned card under the shore bridge are realized. Has the beneficial effects that: according to the invention, through arranging UWB equipment on the port shore bridge road surface, the shore bridge and the unmanned container truck, the positioning and orientation problems of the unmanned container truck under the shore bridge and in the operation process of container receiving when satellite signals are shielded are solved, the positioning accuracy of about 10cm is within the position error allowable range of the container in the longitudinal direction, and the vehicle is ensured to run in the lane range in the transverse direction during operation.
Description
Technical Field
The invention belongs to the technical field of navigation and positioning, and particularly relates to a positioning and orientation method of an unmanned card concentrator based on UWB.
Background
UWB (Ultra wideband) is a carrier-free communication technology that uses non-sinusoidal narrow pulses on the nanosecond to microsecond scale to transmit data. UWB is mainly applied to short-distance high-speed data transmission in the early stage, and in recent years, subnanosecond narrow pulses of UWB are utilized to perform short-distance accurate indoor positioning at home and abroad. For the purpose of real-time positioning, the UWB positioning device generally consists of two parts, namely a fixed base station and a tag loaded on a mobile device. A single UWB device is currently available from some vendors on the market as either a tag or a base station.
When positioning is performed by using UWB, a base station needs to be arranged indoors and outdoors, and then a positioning tag is loaded on a positioning target. When absolute positioning is performed, the position of each base station needs to be known; when relative positioning is performed, the relative angle and displacement between the base stations need to be known. The positioning process is that the tags Of the positioning targets emit ultra-wideband signals, the base stations receive the signals and transmit the signals to the switch and the server through the network cable or the WIFI network, the server software carries out position calculation by using a TDOA (Time Difference Of Arrival) or AOA (Angle Of Arrival) positioning algorithm, and the tag positions are displayed in real Time.
The AOA algorithm can measure the angle between the unknown point and the reference point and calculate the position of the target. The ultra-wideband positioning system measures an arrival angle of a signal that arrives at a receiver first from a positioning target through a plurality of base stations, thereby estimating the position of the positioning target. If the obstacles in the area are less, the AOA algorithm can be used to obtain higher positioning accuracy. But if there are more obstacles in the location area, the effects of multipath effects are taken into account. Due to the multipath effect and the limitation of the receiver antenna, more sensors are often required to work simultaneously, which increases the application cost of the system, and the TOA (Time of Arrival)/TDOA joint location algorithm can reduce the number of sensors working simultaneously and obtain the three-dimensional coordinates of the object to be located.
Although the UWB positioning technology has higher positioning accuracy, the UWB positioning technology is mostly used for indoor positioning at present; meanwhile, the UWB base station needs to be placed at a fixed position, and because the port shore bridge is movable, at least four base stations need to be arranged on each shore bridge in order to realize the relative positioning between the shore bridge and the unmanned container truck, so that the cost is increased, and the action range of the UWB is wasted; in addition, for some industrial application scenarios, especially in the field of automatic driving, besides a high precision requirement on the position of a moving target, there is also a requirement on the heading of the moving target, and a single UWB positioning tag cannot realize precise orientation. In addition, if the traditional GNSS/INS combined navigation positioning is applied, the GNSS is shielded without signals under a port shore bridge, and accumulated errors can exist when the INS does not correct the GNSS.
In order to adapt to rapid and accurate positioning and orientation of unmanned container trucks in port scenes, a positioning and orientation method which is low in cost and can meet the requirements of positioning accuracy of unmanned container trucks in the transverse direction and the longitudinal direction needs to be developed urgently.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide a UWB-based unmanned card concentrator positioning and orientation method, which solves the positioning and orientation problems of an unmanned card concentrator in the operation process of box connection when a satellite signal is shielded under a shore bridge.
In order to realize the purpose, the invention adopts the following technical scheme: a UWB-based positioning and orientation method for an unmanned card concentrator is characterized in that: the method is characterized in that UWB equipment which can be used as a base station and a label is installed, positioning and orientation of a double antenna of a vehicle GNSS satellite signal are utilized, positioning and orientation deviation based on UWB is corrected, accurate positioning and orientation of an unmanned card under a shore bridge are completed, and the method specifically comprises the following steps:
step 1, deploying UWB equipment: the method comprises the following steps that UWB equipment is arranged on the surface of a shore bridge at intervals, and simultaneously, the UWB equipment is arranged on each shore bridge, so that the position of the equipment arranged on each shore bridge is kept consistent, and the deviation value is within the error allowable range of the operation of the shore bridge;
step 4, before the unmanned truck drives under the shore bridge, calculating positioning and orientation deviation based on UWB, specifically,
a. satellite signals are good, and vehicle GNSS directional positioning is realized by means of double antennas on the unmanned hub;
b. using UWB equipment deployed on a shore bridge as a base station, and using two UWB equipment on the unmanned card collected installed in the step 2 as tags to complete positioning and orientation of the unmanned card collected based on UWB;
c. two UWB devices and GNSS receivers on the unmanned hub respectively output respective positioning information in a longitude and latitude mode, a plane coordinate is obtained through UTM projection, the plane coordinate obtained through the GNSS is taken as a standard value, and the vector difference of the UWB coordinate and the GNSS coordinate is calculated and comprises coordinate component deviation along the east direction and coordinate component deviation along the north direction, so that positioning deviation based on the UWB is obtained;
d. according to the method for solving the direction angle according to the longitude and latitude of the known two points, the direction angle obtained by the GNSS receiver is taken as a standard value, and the direction angle obtained by the UWB calculation and the course angle obtained by the GNSS receiver are subjected to subtraction to obtain the UWB-based orientation deviation.
Step 5, when the unmanned truck drives under the shore bridge, positioning and orienting vehicles based on UWB are carried out, and according to the positioning and orienting deviation obtained in the step 4, the positioning and orienting result is corrected, specifically,
a. when a vehicle drives under a shore bridge, because GNSS satellite signals are shielded, positioning information (in a longitude and latitude form) of the unmanned card concentrator is obtained by taking two vehicle-mounted UWB devices as tags and taking UWB devices deployed on the shore bridge as base stations, and directional information is obtained by calculating the direction angle of the unmanned card concentrator according to the longitude and latitude of two known points.
b. And (5) correcting the positioning and orientation result based on the UWB by utilizing the positioning and orientation deviation obtained in the step (4), and finishing the accurate positioning and orientation of the unmanned card concentrator based on the UWB.
The deployment density of UWB equipment on the shore bridge road surface at a distance interval should satisfy centimeter-level and one-dimensional positioning requirements of the shore bridge in the moving process of the shore bridge.
The length of a base line for installing two UWB devices on the unmanned hub is larger than 2 meters.
And the two UWB devices and the GNSS receiver on the unmanned hub are connected to a computing unit of the unmanned hub to compute the relevant information.
Has the advantages that: according to the invention, UWB equipment is arranged on the road surface of the port shore bridge, the shore bridge and the unmanned container truck, so that the positioning and orientation problems of the unmanned container truck under the shore bridge and in the container receiving operation process when satellite signals are shielded are solved, the positioning accuracy of about 10cm is within the position error allowable range of the container in the longitudinal direction, and the vehicle is ensured to run in the lane range in the transverse direction during operation.
Drawings
FIG. 1 is a flow chart of the unmanned hub positioning orientation of the present invention;
fig. 2 is a schematic diagram of a UWB device deployment scenario.
In the figure: 1. UWB equipment is arranged on a shore bridge road surface at intervals, 2 UWB equipment is arranged on each shore bridge, 3 UWB equipment is arranged on a vehicle, and the head and the tail of the vehicle are respectively one UWB equipment.
Detailed Description
The following detailed description of the preferred embodiments will be made in conjunction with the accompanying drawings.
Referring to fig. 1 in detail, the present embodiment provides a positioning and orienting method for an unmanned card concentrator based on UWB, where UWB devices are deployed on a road surface of a shore bridge at regular intervals, and one UWB device is deployed on each shore bridge. The UWB devices used may be used as both base stations and tags. When the quay crane moves, determining the position of the quay crane by using UWB equipment on the quay crane as a label and UWB equipment on the road surfaces on the front side and the rear side of the quay crane as a base station; after the shore bridge is moved, the UWB equipment fixed on the shore bridge can be used as a base station to position the unmanned card concentrator. Before the unmanned hub drives into a shore bridge, satellite signals are good, positioning and orientation can be carried out through a GNSS double-antenna, positioning and orientation can also be carried out through a UWB device on the unmanned hub as a label, and positioning and orientation deviation based on the UWB is calculated by taking the result obtained by the positioning and orientation of the GNSS double-antenna as a standard value; after the unmanned hub drives into the shore bridge, satellite signals are shielded, and the positioning and orientation result based on UWB can be corrected by the calculated positioning and orientation deviation through UWB-based vehicle positioning and orientation. The vehicle in fig. 1 is referred to as an unmanned card.
The UWB device used in the present invention can be used as both a base station and a tag.
The UWB device is specifically deployed as shown in fig. 2, step 1, the UWB device is deployed. The UWB 1 is deployed on a road surface of a shore bridge at a certain distance, the deployment density depends on the effective range and the precision of the UWB equipment, and usually, centimeter-level and one-dimensional positioning of the shore bridge can be guaranteed in the moving process of the shore bridge. Meanwhile, a UWB 2 device is deployed on each shore bridge, and the installation position of the UWB device on the shore bridge represents the positioning point of each shore bridge, so that the deployment positions of the UWB device on each shore bridge are consistent as much as possible, and the deviation is ensured to be within the error allowable range of the operation of the shore bridge.
And 2, installing two UWB devices on the unmanned hub as tags. Similar to the GNSS dual-antenna positioning principle, in addition to the positioning of the unmanned hub, the orientation of the unmanned hub is also implemented. The GNSS double-antenna orientation is usually installed front and back on the vehicle, and here the UWB equipment can be installed one at the head and the tail of the vehicle respectively according to the installation mode. The base-line length of both UWB devices is greater than 2 meters.
Step 4, before the unmanned truck enters the under-shore bridge, satellite signals are good, and the orientation positioning of the unmanned truck can be realized by means of the GNSS dual antenna on the vehicle; meanwhile, because the UWB equipment has a certain action range as the base station and the shore bridge is also provided with the UWB equipment as the base station, the two UWB equipment on the unmanned hub can be used as the label to realize the positioning and orientation of the vehicle based on the UWB within a range before the unmanned hub drives into the shore bridge.
Two UWB devices and GNSS receivers on the unmanned hub respectively output respective positioning information in a longitude and latitude mode, a plane coordinate is obtained through UTM projection, the plane coordinate obtained through the GNSS is taken as a standard value, and the vector difference of the UWB coordinate and the GNSS coordinate is calculated and comprises coordinate component deviation along the east direction and coordinate component deviation along the north direction, so that positioning deviation based on the UWB is obtained;
and solving a direction angle according to the longitude and latitude of the known two points, taking the direction angle obtained by the GNSS receiver as a standard value, and subtracting the direction angle obtained by the UWB calculation and the course angle obtained by the GNSS receiver to obtain the UWB-based orientation deviation.
Two UWB devices and GNSS receivers on the unmanned hub are connected to a computing unit of the unmanned hub to compute related information; and comparing the positioning and orientation result based on the UWB with the orientation result based on the GNSS dual-antenna, and calculating the positioning and orientation deviation of the UWB, so that the positioning and orientation calibration based on the UWB equipment can be understood.
And 5, when the unmanned card concentrator drives under a shore bridge, because GNSS satellite signals are shielded, UWB equipment on the current shore bridge and nearby shore bridges can be used as base stations at the moment, and two UWB equipment on the vehicle can be used as tags to realize real-time positioning and orientation of the unmanned card concentrator. And (4) correcting the positioning and orientation result based on the UWB by using the positioning and orientation deviation obtained in the step (4), and finishing the accurate positioning and orientation target of the unmanned card based on the UWB. The specific orientation calculation process is as follows:
in the actual shore bridge operation and positioning process, the UWB equipment outputs the positioning information of the moving object in the form of longitude and latitude, and two UWB tags are deployed in the advancing direction of the vehicle, so that the longitude and latitude coordinates of the two tags can be obtained, and the included angle between the connecting line of the two points and the true north direction, namely the direction angle, can be obtained by knowing the longitude and latitude of the two points. Let the longitude and latitude of two points be (lon 1, lat 1) and (lon 2, lat 2), respectively.
When two points are on the same latitude, namely lat1-lat2=0, if lon1-lon2 > 0, az =270; conversely, az =90.
When the two points are not at the same latitude,
if lat1 > lat2, az = Az +180; conversely, az remains unchanged. Az is the heading calculated according to the longitude and latitude of the two points, so as to obtain the purpose of UWB orientation.
The above detailed description of the positioning and orientation method for an unmanned UWB-based card concentrator with reference to the embodiments is illustrative and not restrictive, and several embodiments may be enumerated within the scope of the limitations, so that variations and modifications thereof may be made without departing from the general inventive concept within the scope of the present invention.
Claims (4)
1. A UWB-based positioning and orientation method for an unmanned card concentrator is characterized in that: the method comprises the following steps of installing UWB equipment which can be used as a base station and a label, correcting positioning and orientation deviation based on UWB by utilizing double-antenna positioning and orientation of vehicle GNSS satellite signals, and completing accurate positioning and orientation of an unmanned card under a shore bridge, wherein the specific steps are as follows:
step 1, deploying UWB equipment: the method comprises the following steps that UWB equipment is arranged on the land bridge road surface at intervals, and simultaneously one UWB equipment is arranged on each land bridge, so that the positions of the equipment arranged on each land bridge are kept consistent, and the deviation value is within the error allowable range of the land bridge operation;
step 2, installing two UWB devices on the unmanned hub: the UWB equipment is used as a label and is arranged at the head and the tail of the unmanned card collection respectively;
step 3, positioning a shore bridge: before the vehicle drives into the shore bridge to operate, all the shore bridges are moved and are in a static state, UWB equipment deployed on the road surface of the shore bridge is used as a base station, and the UWB equipment on the shore bridge is used as a label to finish the accurate positioning of the shore bridge;
step 4, before the unmanned truck enters the under-shore bridge, calculating the positioning and orientation deviation based on UWB, specifically,
a. satellite signals are good, and vehicle GNSS directional positioning is realized by means of double antennas on the unmanned hub;
b. using UWB equipment deployed on a shore bridge as a base station, and using two UWB equipment on the unmanned card collected installed in the step 2 as tags to complete positioning and orientation of the unmanned card collected based on UWB;
c. two UWB devices and GNSS receivers on the unmanned hub respectively output respective positioning information in a longitude and latitude mode, a plane coordinate is obtained through UTM projection, the plane coordinate obtained through GNSS is taken as a standard value, the vector difference of the UWB coordinate and the GNSS coordinate is calculated, the vector difference comprises coordinate component deviation along the east direction and coordinate component deviation along the north direction, and positioning deviation based on UWB is obtained;
d. according to the method for solving the direction angle according to the longitude and latitude of the known two points, the direction angle obtained by the GNSS receiver is taken as a standard value, and the direction angle obtained by the UWB calculation is subtracted from the direction angle obtained by the GNSS receiver to obtain the UWB-based orientation deviation;
step 5, when the unmanned truck drives under the shore bridge, positioning and orientation of vehicles based on UWB are carried out, and the positioning and orientation result is corrected according to the positioning and orientation deviation obtained in step 4, specifically,
a. when a vehicle drives under a shore bridge, because GNSS satellite signals are shielded, positioning information of the unmanned truck is obtained by taking two vehicle-mounted UWB devices as labels and taking UWB devices deployed on the shore bridge as base stations, and directional information is obtained by calculating the direction angle of the unmanned truck according to the longitude and latitude of two known points;
b. and (4) correcting the positioning and orientation result based on the UWB by utilizing the positioning and orientation deviation obtained in the step (4), and finishing the accurate positioning and orientation of the unmanned card based on the UWB.
2. The UWB-based unmanned hub positioning and orientation method of claim 1, wherein the UWB based unmanned hub positioning and orientation method comprises the following steps: the deployment density of UWB equipment on the shore bridge road surface at a distance interval should satisfy centimeter-level and one-dimensional positioning requirements of the shore bridge in the moving process of the shore bridge.
3. The UWB-based unmanned hub positioning and orientation method of claim 1, wherein: the length of a base line for installing two UWB devices on the unmanned hub is larger than 2 meters.
4. The UWB-based unmanned hub positioning and orientation method of claim 1, wherein the UWB based unmanned hub positioning and orientation method comprises the following steps: and the two UWB devices and the GNSS receiver on the unmanned hub are connected to a computing unit of the unmanned hub to compute the relevant information.
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| CN111071931A (en) * | 2019-12-18 | 2020-04-28 | 中国铁路上海局集团有限公司 | Method for accurately loading container on truck-mounted vehicle |
| CN111622145B (en) * | 2020-07-28 | 2021-02-19 | 北京主线科技有限公司 | Unmanned truck-collecting positioning method and system based on reflective spikes |
| CN112415548B (en) * | 2020-11-09 | 2023-09-29 | 北京斯年智驾科技有限公司 | Positioning method, device and system of unmanned integrated card, electronic device and storage medium |
| CN113156479B (en) * | 2021-03-23 | 2023-03-28 | 同济大学 | Combined positioning method for outdoor country road scene |
| CN113469045B (en) * | 2021-06-30 | 2023-05-02 | 上海西井信息科技有限公司 | Visual positioning method and system for unmanned integrated card, electronic equipment and storage medium |
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