CN110986936B - Passenger ship personnel positioning and navigation method based on edge calculation - Google Patents

Passenger ship personnel positioning and navigation method based on edge calculation Download PDF

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CN110986936B
CN110986936B CN201911303593.8A CN201911303593A CN110986936B CN 110986936 B CN110986936 B CN 110986936B CN 201911303593 A CN201911303593 A CN 201911303593A CN 110986936 B CN110986936 B CN 110986936B
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passenger ship
uwb
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刘克中
曾旭明
马杰
李春伸
陈默子
王国宇
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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

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Abstract

A passenger ship personnel positioning navigation method based on edge calculation is characterized in that a UWB tag and a posture detection module are fixed on a passenger ship personnel body in a cabin of a certain passenger ship as a mobile node, the fixed node is initialized, the mobile node and the edge calculation module are composed of a motion detection module and a UWB base station in the cabin of the passenger ship, then distance data from the UWB tag to the UWB base station, posture data of the passenger ship personnel and motion parameters of the passenger ship are collected in real time and are transmitted to the edge calculation module, then the edge calculation module carries out error compensation and fusion constraint calculation on the received data in sequence, and accurate position, speed and posture data of the passenger ship personnel are obtained and are transmitted to a server. The design not only greatly improves the problem of system delay, but also improves the precision of positioning navigation and has good stability.

Description

Passenger ship personnel positioning and navigation method based on edge calculation
Technical Field
The invention belongs to the technical field of UWB positioning navigation, and particularly relates to a passenger ship personnel positioning navigation method based on edge calculation.
Background
As an important water traffic transport tool, a large passenger ship is huge in scale and bearing capacity, a deck is usually provided with multiple layers, each layer is provided with a large number of cabins, the environment is complex and changeable, and great difficulties are brought to daily safety management of passenger ship personnel and timely and accurate rescue and evacuation when an emergency accident happens. Indoor positioning and navigation systems are widely developed and researched.
Because the number of passenger ship cabins is large, the motion state of a ship body is changeable, the ship cabins are relatively closed, and the influence of steel partition on multimode signals is large, the problems of high system delay and larger error in sailing exist in the application of the traditional indoor positioning method to a large-sized ship, and therefore the development of a high-precision low-delay real-time positioning navigation system in a passenger ship has very important significance for emergency escape and daily safety management of passenger ship personnel.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a passenger ship personnel positioning and navigation method based on edge calculation, which has low system delay and high precision.
In order to achieve the above purpose, the invention provides the following technical scheme:
a passenger ship personnel positioning and navigation method based on edge calculation sequentially comprises the following steps:
the method comprises the following steps that firstly, a mobile node is fixed on a passenger ship person in a cabin of a certain passenger ship, and a fixed node, the mobile node and an edge calculation module in the cabin of the passenger ship are initialized, wherein the mobile node comprises a UWB (ultra wide band) tag and an attitude detection module, the fixed node comprises a motion detection module and a UWB base station, and the motion detection module and the UWB base station are arranged in the cabin of the passenger ship;
secondly, acquiring distance data from a UWB tag to a UWB base station, passenger ship personnel posture data and passenger ship motion parameters in real time, and transmitting the data to an edge calculation module, wherein the passenger ship personnel posture data is acquired by a posture detection module, and the passenger ship motion parameters are acquired by a motion detection module;
and thirdly, the edge calculation module performs fusion constraint calculation on the received data to obtain accurate position, speed and posture data of passenger ship personnel, and the accurate position, speed and posture data are uploaded to a server.
In the second step, the distance data from the UWB tag to the UWB base station is measured through the multiple communication between the UWB tag and the UWB base station;
in the third step, before performing fusion constraint calculation, the edge calculation module performs error compensation on distance data from a UWB tag to a UWB base station and passenger ship personnel attitude data according to passenger ship motion parameters, where the passenger ship motion parameters include speed, acceleration, and angular rate, the passenger ship personnel attitude data include angular rate and specific force information of a passenger ship personnel in a coordinate system b system measured by an attitude detection module through a triaxial gyroscope and accelerometer, and the compensated error is calculated by using the following formula:
Figure BDA0002322482570000021
Figure BDA0002322482570000022
r＝r TOA -r D
Figure BDA0002322482570000023
in the above formula, ω b And
Figure BDA0002322482570000024
angular rate correction values for the attitude detection module and angular rate output values for the gyroscope, f b And
Figure BDA0002322482570000026
acceleration correction value of the attitude detection module and output value of the accelerometer, b g And b a Constant drift for the gyroscope and constant bias for the accelerometer, respectively, e g And e a Respectively compensating errors of acceleration and angular speed in passenger ship motion parameters, r is a distance correction value from a UWB tag to a UWB base station, r TOA Distance of UWB tag to UWB base station, C n In order to fix the delay time error,
Figure BDA0002322482570000025
a polynomial formed by the distance s from the UWB tag to the UWB base station calculated for the passenger ship motion parameters, wherein the distance s is passenger ship displacement between the UWB base station and the UWB tag during two times of communication, e n Distance errors introduced for signal interference noise of UWB base stations.
In the third step, the fusion constraint calculation takes distance data from a UWB tag to a UWB base station as a state variable, takes passenger ship personnel attitude data and passenger ship motion parameters as correction variables, performs fusion calculation on the state variable and the correction variables in a tight coupling mode, and then performs Kalman filtering on a fusion calculation result to obtain accurate position, speed and attitude data, wherein the tight coupling mode is as follows: taking distance data from a UWB tag to a UWB base station as measurement information, taking a correction variable as a constraint, and assisting a fixed node to update the position, the speed and the attitude:
Figure BDA0002322482570000031
in the above formula, X (k + 1) is the state vector of the passenger ship at the moment of k +1, and F is the state matrix
Figure BDA0002322482570000032
T is the sampling interval time of the attitude detection module,
Figure BDA0002322482570000033
is a rotation matrix, u (k) is the horizontal acceleration of the passenger ship at time k,
Figure BDA0002322482570000034
correction vector for time k (v, a, ω) T V is the velocity, a is the acceleration, and ω is the rotational angular velocity.
In the third step, after error compensation and before fusion constraint calculation, the method uses a rotation matrix
Figure BDA0002322482570000035
And converting the passenger ship personnel attitude data and the ship body motion parameters into n systems.
The UWB base station comprises a total base station and a plurality of sub base stations, the number of the UWB base stations is more than or equal to 4, and the arrangement positions of any three UWB base stations are not on the same straight line;
in the second step, the distance data from the UWB tag to the UWB base station, the attitude data of passenger ship personnel and the motion parameters of the passenger ship are all transmitted to the edge calculation module through the general base station.
In the second step, the distance data from the UWB tag to the UWB base station is measured through the UWB tag and the UWB base station through multiple times of communication.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the passenger ship personnel positioning and navigation method based on edge calculation, the UWB base station and the edge calculation module are arranged in each passenger ship cabin, the edge calculation module is used for carrying out fusion calculation on distance data from a UWB tag to the UWB base station, passenger ship personnel attitude data and passenger ship motion parameters which are acquired in real time, and accurate position, speed and attitude data of the passenger ship personnel are finally obtained. Therefore, the invention not only greatly improves the problem of system delay, but also has simple deployment and good stability.
2. According to the passenger ship personnel positioning and navigation method based on edge calculation, before fusion constraint calculation, the edge calculation module can perform error compensation on distance data from a UWB (ultra wide band) tag to a UWB (ultra wide band) base station and posture data of passenger ship personnel according to passenger ship motion parameters. Therefore, the invention improves the precision of positioning and navigation.
Drawings
FIG. 1 is a flow chart of data processing according to the present invention.
FIG. 2 is a block diagram of the method of example 1 of the present invention.
Fig. 3 is a plan view of a passenger ship cabin of embodiment 1 of the present invention.
Detailed Description
The present invention will be further described with reference to the following detailed description and accompanying drawings.
Referring to fig. 1, a passenger ship personnel positioning and navigation method based on edge calculation sequentially includes the following steps:
the method comprises the following steps that firstly, a mobile node is fixed on a passenger ship person in a cabin of a certain passenger ship, and a fixed node, the mobile node and an edge calculation module in the cabin of the passenger ship are initialized, wherein the mobile node comprises a UWB (ultra wide band) tag and an attitude detection module, the fixed node comprises a motion detection module and a UWB base station, and the motion detection module and the UWB base station are arranged in the cabin of the passenger ship;
secondly, acquiring distance data from a UWB tag to a UWB base station, passenger ship personnel posture data and passenger ship motion parameters in real time, and transmitting the data to an edge calculation module, wherein the passenger ship personnel posture data is acquired by a posture detection module, and the passenger ship motion parameters are acquired by a motion detection module;
and thirdly, the edge calculation module performs fusion constraint calculation on the received data to obtain accurate position, speed and posture data of passenger ship personnel, and the accurate position, speed and posture data are uploaded to a server.
In the second step, the distance data from the UWB tag to the UWB base station is measured through the multiple communication between the UWB tag and the UWB base station;
in the third step, before performing fusion constraint calculation, the edge calculation module performs error compensation on distance data from a UWB tag to a UWB base station and passenger ship personnel attitude data according to passenger ship motion parameters, where the passenger ship motion parameters include speed, acceleration, and angular rate, the passenger ship personnel attitude data include angular rate and specific force information of a passenger ship personnel in a coordinate system b system measured by an attitude detection module through a triaxial gyroscope and accelerometer, and the compensated error is calculated by using the following formula:
Figure BDA0002322482570000041
Figure BDA0002322482570000042
r＝r TOA -r D
Figure BDA0002322482570000051
in the above formula, ω b And
Figure BDA0002322482570000052
angular rate correction value of the attitude detection module and angular rate output value of the gyroscope, f b And
Figure BDA0002322482570000053
acceleration correction value of the attitude detection module and output value of the accelerometer, b g And b a Constant drift for the gyroscope and constant bias for the accelerometer, respectively, e g And e a Compensating errors of acceleration and angular velocity in passenger wheel motion parameters respectively, wherein r is a distance correction value from a UWB tag to a UWB base station, and r is TOA Distance of UWB tag to UWB base station, C n In order to fix the delay time error,
Figure BDA0002322482570000054
a polynomial formed by the distance s from the UWB tag to the UWB base station calculated for the passenger ship motion parameters, wherein the distance s is passenger ship displacement between the UWB base station and the UWB tag during two times of communication, e n Distance errors introduced for signal interference noise of UWB base stations.
In the third step, the fusion constraint calculation takes distance data from a UWB tag to a UWB base station as a state variable, takes passenger ship personnel attitude data and passenger ship motion parameters as correction variables, performs fusion calculation on the state variable and the correction variables in a tight coupling mode, and then performs Kalman filtering on a fusion calculation result to obtain accurate position, speed and attitude data, wherein the tight coupling mode is as follows: taking distance data from a UWB tag to a UWB base station as measurement information, taking a correction variable as a constraint, and assisting a fixed node to update the position, the speed and the attitude:
Figure BDA0002322482570000055
in the above formula, X (k + 1) is the state vector of passenger ship personnel at the moment of k +1, and F is the state matrix
Figure BDA0002322482570000056
T is the sampling interval time of the attitude detection module,
Figure BDA0002322482570000057
is a rotation matrix, u (k) is the horizontal acceleration of the passenger ship at time k,
Figure BDA0002322482570000058
correction vector for time k (v, a, ω) T V is the velocity, a is the acceleration, and ω is the rotational angular velocity.
In the third step, after error compensation and before fusion constraint calculation, the matrix is rotated
Figure BDA0002322482570000059
And converting the passenger ship personnel attitude data and the ship body motion parameters into n systems.
The UWB base station comprises a total base station and a plurality of branch base stations, the number of the UWB base stations is more than or equal to 4, and the arrangement positions of any three UWB base stations are not on the same straight line;
in the second step, the distance data from the UWB tag to the UWB base station, the attitude data of passenger ship personnel and the motion parameters of the passenger ship are all transmitted to the edge calculation module through the general base station.
The principle of the invention is illustrated as follows:
the invention provides a passenger ship personnel positioning navigation method based on edge calculation, as shown in figure 1, an attitude detection module outputs attitude data of passenger ship personnel, wherein the attitude data comprises speed, acceleration and angular rate, error compensation is carried out on the output attitude data according to a motion detection module, the walking distance and direction of the passenger ship personnel are calculated by taking the position data calculated at the last time as a reference point, close-coupling fusion calculation is carried out on the calculated distance and distance measurement data of a UWB node, and finally Kalman combination filtering is carried out on the calculation result so as to obtain accurate position and navigation data.
In the invention, each mobile node can be bound with a mobile phone APP through a unique ID (identity), when initialization operation is carried out, the fixed nodes are communicated with each other so as to calibrate the position coordinates of each fixed node, the edge computing module uploads the obtained accurate position, speed and posture data of passenger ship personnel to a server and feeds the data back to the mobile phone APP through WIFI, the server end can monitor the pedestrian volume of each area in real time through the data, and when the passenger ship personnel have an emergency, the position of the passenger ship personnel can be quickly and accurately positioned and navigated, so that rescue and evacuation of people are carried out.
Distance data of UWB tag to UWB base station: the data is measured through multiple communications of the UWB tag and the UWB base station, and measurement errors caused by clock offset can be eliminated.
Example 1:
referring to fig. 1 and 2, a passenger ship personnel positioning and navigation method based on edge calculation is sequentially performed according to the following steps:
the method comprises the following steps that firstly, mobile nodes are fixed on passenger ship personnel in each passenger ship cabin, and a fixed node, the mobile nodes and an edge computing module located in the passenger ship cabin are initialized, wherein each mobile node comprises a UWB (ultra wide band) tag and a posture detection module, each mobile node is bound with a mobile phone APP (application) through a unique ID (identity), each fixed node comprises a motion detection module and a UWB (ultra wide band) base station, the motion detection modules and the UWB base stations are arranged in the passenger ship cabin, the number of the UWB base stations is 4, the UWB base stations comprise a UWB (ultra wide band) master base station and three UWB sub-base stations, the UWB sub-base stations are respectively arranged at four corners of the passenger ship cabin, the edge computing module is connected with the UWB master base station through a serial port, the edge computing module comprises a data processing unit, a WIFI (wireless fidelity) module and an Ethernet interface, the edge computing module in each passenger ship cabin is dynamically accessed into a local area network of the place through the Ethernet, and the positioning result of the cabin is accessed into a positioning network of the whole passenger ship, and the specific arrangement mode is shown in figure 3;
secondly, each UWB tag is communicated with each UWB base station in the current room for multiple times so as to measure the distance from the UWB tag to each UWB base station, a motion detection module collects passenger ship motion parameters including speed, acceleration and angular rate in real time, an attitude detection module collects passenger ship personnel attitude data in real time, and a UWB total base station of each ship cabin transmits the data to an edge calculation module;
in the third step, before performing fusion constraint calculation, the edge calculation module performs error compensation on distance data from a UWB tag to a UWB base station and passenger ship personnel attitude data according to passenger ship motion parameters, where the passenger ship motion parameters include speed, acceleration, and angular rate, the passenger ship personnel attitude data include angular rate and specific force information of a passenger ship personnel in a coordinate system b system measured by an attitude detection module through a triaxial gyroscope and accelerometer, and the compensated error is calculated by using the following formula:
Figure BDA0002322482570000071
Figure BDA0002322482570000072
r＝r TOA -r D
Figure BDA0002322482570000073
in the above formula, ω b And
Figure BDA0002322482570000074
angular rate correction values for the attitude detection module and angular rate output values for the gyroscope, f b And
Figure BDA0002322482570000075
acceleration correction value of the attitude detection module and output value of the accelerometer, b g And b a Constant drift for the gyroscope and constant bias for the accelerometer, respectively, e g And e a Compensating errors of acceleration and angular velocity in passenger wheel motion parameters respectively, wherein r is a distance correction value from a UWB tag to a UWB base station, and r is TOA Distance of UWB tag to UWB base station, C n In order to fix the delay time error,
Figure BDA0002322482570000076
a polynomial formed by the distance s from the UWB tag to the UWB base station, which is obtained by calculating the passenger ship motion parameters, wherein the distance s is passenger ship displacement during two times of communication between the UWB base station and the UWB tag, and e n Distance error introduced for signal interference noise of the UWB base station;
fourthly, the edge calculation module passes through a rotation matrix
Figure BDA0002322482570000077
And (3) converting the passenger ship personnel attitude data and the ship motion parameters into n systems:
Figure BDA0002322482570000078
in the above formula, the first and second carbon atoms are,
Figure BDA0002322482570000079
is the included angle between the coordinate and the projection interface;
fifthly, the edge calculation module takes distance data from a UWB tag to a UWB base station as a state variable, takes passenger ship personnel attitude data and passenger ship motion parameters as correcting variables, performs fusion calculation on the state variable and the correcting variables in a tight coupling mode, then performs Kalman filtering on a fusion calculation result to obtain accurate position, speed and attitude data, uploads the accurate position, speed and attitude data to a server, and feeds back the accurate position, speed and attitude data to a mobile phone APP through a WIFI module, wherein the tight coupling mode refers to: taking distance data from a UWB tag to a UWB base station as measurement information, taking a correction variable as a constraint, and assisting a fixed node to update the position, the speed and the attitude:
Figure BDA0002322482570000081
in the above formula, X (k + 1) is the state vector of passenger ship personnel at the moment of k +1, and F is the state matrix
Figure BDA0002322482570000082
T is the sampling interval time of the attitude detection module,
Figure BDA0002322482570000083
is a rotation matrix, u (k) is the horizontal acceleration of the passenger aircraft at time k,
Figure BDA0002322482570000084
correction vector for time k (v, a, ω) T V is the velocity, a is the acceleration, and ω is the rotational angular velocity.

Claims (4)

1. A passenger ship personnel positioning navigation method based on edge calculation is characterized in that:
the navigation method sequentially comprises the following steps:
fixing a mobile node on a passenger ship personnel in a cabin of a certain passenger ship, and initializing the fixed node, the mobile node and an edge calculation module in the cabin of the passenger ship, wherein the mobile node comprises a UWB tag and an attitude detection module, the fixed node comprises a motion detection module and a UWB base station, and the motion detection module and the UWB base station are arranged in the cabin of the passenger ship;
secondly, acquiring distance data from a UWB tag to a UWB base station, passenger ship personnel attitude data and passenger ship motion parameters in real time, and transmitting the data to an edge calculation module, wherein the distance data from the UWB tag to the UWB base station is measured through multiple communications between the UWB tag and the UWB base station, the passenger ship personnel attitude data is acquired by an attitude detection module, and the passenger ship motion parameters are acquired by a motion detection module;
thirdly, the edge calculation module performs error compensation on distance data from a UWB tag to a UWB base station and passenger ship personnel attitude data according to passenger ship motion parameters, performs fusion constraint calculation on the received data to obtain accurate position, speed and attitude data of the passenger ship personnel, and transmits the accurate position, speed and attitude data to a server, wherein the passenger ship motion parameters comprise speed, acceleration and angular rate, the passenger ship personnel attitude data comprise angular rate and specific force information of the passenger ship personnel under a coordinate system b, which are measured by an attitude detection module through a triaxial gyroscope and an accelerometer, and the compensated error is calculated by adopting the following formula:
Figure FDA0003735911380000011
Figure FDA0003735911380000012
r＝r TOA -r D
Figure FDA0003735911380000013
in the above formula, ω b And
Figure FDA0003735911380000014
angular rate correction values for the attitude detection module and angular rate output values for the gyroscope, f b And
Figure FDA0003735911380000015
acceleration correction value of the attitude detection module and output value of the accelerometer, b g And b a Constant drift for the gyroscope and constant bias for the accelerometer, respectively, e g And e a Respectively for passenger transportationCompensating errors of angular velocity and acceleration in the dynamic parameters, r is a distance correction value from the UWB tag to the UWB base station, r TOA Distance of UWB tag to UWB base station, C n In order to fix the delay time error,
Figure FDA0003735911380000016
a polynomial formed by a distance s obtained by calculating passenger ship motion parameters, wherein the distance s is passenger ship displacement during two times of communication between a UWB base station and a UWB tag, and e n Distance errors introduced for signal interference noise of UWB base stations.
2. The passenger ship personnel positioning and navigation method based on edge calculation as claimed in claim 1, wherein:
in the third step, the fusion constraint calculation takes distance data from a UWB tag to a UWB base station as a state variable, takes passenger ship personnel attitude data and passenger ship motion parameters as correction variables, performs fusion calculation on the state variable and the correction variables in a tight coupling mode, and then performs Kalman filtering on a fusion calculation result to obtain accurate position, speed and attitude data, wherein the tight coupling mode is as follows: taking distance data from a UWB tag to a UWB base station as measurement information, taking a correction variable as constraint, and assisting a fixed node to update the position, the speed and the attitude:
Figure FDA0003735911380000021
in the above formula, X (k + 1) is the state vector of passenger ship personnel at the moment of k +1, and F is the state matrix
Figure FDA0003735911380000022
T is the sampling interval time of the attitude detection module,
Figure FDA0003735911380000023
is a rotation matrix, u (k) is the horizontal acceleration of the passenger ship at time k,
Figure FDA0003735911380000024
correction vector for time k (v, a, ω) T V is the velocity, a is the acceleration, and ω is the rotational angular velocity.
3. An edge computing-based passenger ship personnel positioning and navigation method according to claim 1 or 2, characterized in that:
in the third step, after error compensation and before fusion constraint calculation, the method uses a rotation matrix
Figure FDA0003735911380000025
And converting the passenger ship personnel attitude data and the ship body motion parameters into n systems.
4. An edge computing-based passenger ship personnel positioning and navigation method according to claim 1 or 2, characterized in that:
the UWB base station comprises a total base station and a plurality of branch base stations, the number of the UWB base stations is more than or equal to 4, and the arrangement positions of any three UWB base stations are not on the same straight line;
in the second step, the distance data from the UWB tag to the UWB base station, the attitude data of passenger ship personnel and the motion parameters of the passenger ship are all transmitted to the edge calculation module through the total base station.
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