CN111077906A - RFID-based cluster internal navigation positioning system and method - Google Patents
RFID-based cluster internal navigation positioning system and method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- 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
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- 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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- 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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The invention belongs to the technical field of cluster control and navigation positioning, and discloses a system and a method for internal navigation positioning based on an RFID cluster, wherein the system for internal navigation positioning based on the RFID cluster comprises: the navigation positioning control module is used for assisting positioning by utilizing information of other carriers in a local communication network; and the identification communication module is used for establishing communication relation among the corresponding monomers, realizing the establishment of local communication in the cluster, and assisting in finishing the positioning in the cluster by taking the set RFID identification distance as auxiliary information. The invention utilizes the uniqueness of the RFID label and the controllability of the RFID identification distance to establish a local communication network in a cluster, and the navigation positioning control module utilizes the information of other carriers in the local communication network to assist positioning to complete cluster control: the invention has the advantages of low cost, small system complexity, strong expandability, suitability for two-dimensional/three-dimensional cluster control and the like.
Description
Technical Field
The invention belongs to the technical field of cluster control and navigation positioning, and particularly relates to a system and a method for navigation positioning in a cluster based on RFID.
Background
The basis of large-scale cluster motion control is cluster positioning, and each carrier in a cluster is required to move according to a planned route to complete a cluster control task. For cluster positioning, the core is to solve the problem of relative positioning in a cluster, most of the existing formation/cluster positioning adopts a mode of 'single absolute positioning + cluster communication', and the relative position relation in the cluster is solved by absolute positioning, so that the performance of single absolute positioning is required to be ensured. With the increase of the cluster scale, the probability of positioning zero fault of each single body in the cluster in the whole task is gradually reduced, and the reduction of the positioning performance of the single bodies of the unmanned system is easy to cause the mutual collision of carriers in the cluster, influence the efficiency of executing the task and even cause the failure of the task, so the integral positioning capability of the cluster needs to be considered and improved.
The IMU/GPS combination is the most common navigation positioning mode of various vehicle platforms at present and is also a necessary navigation sensor for realizing absolute positioning of each monomer in a cluster. The high-performance IMU can improve the absolute positioning capability of the single body, so that the integral positioning capability of the cluster is improved, but the size and the weight of the cluster are large, the cost is high, and the method is not an economic navigation mode. In addition, the accuracy of the IMU is dispersed along with the time, and when the GPS fails, the sufficient accuracy cannot be ensured in the task period by simply improving the performance of the IMU. The matching technology of magnetic field and gravity field can be used as a backup means of GPS, and the absolute positioning performance of the single body without GPS is improved, but the absolute positioning precision is limited in principle, and the use requirement of a high-density cluster is not met. Generally, a cluster positioning architecture that solely depends on absolute positioning is difficult to effectively solve the problems faced at present. The other idea is to establish a relative positioning relation as an auxiliary means to enhance the cluster positioning capability. The related technologies such as laser radar and vision can obtain high-precision relative positioning relation, but firstly, the cost of the laser and vision sensor is high, secondly, the laser and vision sensor cannot realize all-weather work due to environmental factor constraint, and the application of the laser and vision sensor in cluster positioning engineering is limited.
In summary, the problems of the prior art are as follows: (1) when the GPS fails, the navigation precision is lower in the task period by simply improving the performance of the IMU by the IMU/GPS combination.
(2) The magnetic field and gravity auxiliary technical means can assist positioning when the GPS fails, but the precision is relatively low, and the use requirement of a high-density cluster is difficult to meet.
(3) The related technologies such as laser and vision have high cost and cannot work and use all the weather.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an RFID-based cluster internal navigation positioning system, a method and a carrier platform.
The invention is realized in this way, an internal navigation positioning system based on RFID cluster, the internal navigation positioning system based on RFID cluster includes:
the navigation positioning control module is used for assisting positioning by utilizing information of other carriers in a local communication network;
and the identification communication module is used for establishing communication relation among the corresponding monomers, realizing the establishment of local communication in the cluster, and assisting in finishing the positioning in the cluster by taking the set RFID identification distance as auxiliary information.
Further, the navigation positioning control module comprises: IMU, GPS, magnetometer, barometer, navigation control processor;
the IMU is combined with the GPS, the magnetometer and the barometer to realize the navigation positioning function; the IMU senses the angular velocity and the acceleration of the carrier and completes navigation calculation by using sensed information, and the IMU provides continuous real-time full navigation information;
the GPS assists the IMU to complete information correction of speed, position and horizontal attitude, the magnetometer assists the IMU to complete information correction of course, and the barometer assists the IMU to complete correction of altitude information;
the navigation control processor realizes a control function, generates a control instruction by using the corrected real-time positioning information and the position information of the task planning, controls the carrier to generate maneuver, and finishes the maneuver according to the planned route.
Further, the identification communication module includes: an RFID system and a communication module;
the RFID system consists of an RFID reader-writer, an RFID label and an antenna; the RFID label and the RFID reader-writer realize the coupling of radio frequency signals through a coupling element to finish the energy transfer and the data exchange; the RFID system controls the read-write distance through the setting of the RFID reader-writer, so that the function of identifying the RFID label in the entering range is achieved; in the identification communication module, the RFID system identifies other monomers in the cluster within the entering range and sends the information of the monomers to the communication module, the communication module establishes communication with the corresponding monomers to realize the establishment of local communication in the cluster, and meanwhile, the set RFID identification distance is used as auxiliary information to assist in completing the positioning in the cluster.
Another objective of the present invention is to provide an RFID cluster internal navigation positioning method for implementing the RFID cluster internal navigation positioning system, where the RFID cluster internal navigation positioning method includes:
firstly, setting a safety identification distance according to a cluster control task, and selecting a corresponding working frequency of an RFID reader-writer;
secondly, the IMU/GPS/magnetometer/barometer completes the integrated navigation positioning function and sends navigation information to the navigation control processor;
thirdly, the navigation control processor adjusts control parameters according to the current positioning information and the planning path information to control the carrier to move;
fourthly, when the distance between the two carriers is smaller than the safety distance, the RFID system identifies the carrier entering the distance and sends the information of the corresponding carrier to the communication module;
fifthly, local communication is established between the communication module and a carrier entering a safe distance, information such as self state, positioning and path planning is sent to the opposite side, and meanwhile, the received information of the opposite side is sent to the navigation control processor;
sixthly, judging to perform abnormal detection of the working states of the two parties by the navigation control processor according to the working states of the navigation control processor and the other party;
and seventhly, when the distance between the two carriers is greater than the safe distance, the RFID system identifies the state and sends corresponding information to the communication module, and after the communication module sends the state that the distance between the two carriers is in the safe distance to the navigation control processor, the communication between the two carriers is interrupted.
Further, when judging that the carrier is abnormal, the sixth step obtains a position correction quantity by using the positioning information of the normal carrier, the formation position relation of the two carriers in the cluster and the identification distance of the RFID; correcting the self position by using the correction quantity; generating corresponding control quantity according to the corrected position and the planning route information to correct the carrier movement and get close to the normal path; and sends the state that the self is in abnormal positioning outwards.
Further, in the sixth step, control quantity is generated according to the position relation of the formation of the two carriers in the cluster and the real-time maneuvering characteristics, and the motion track of the carrier is adjusted to avoid actions and avoid direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
Further, in the sixth step, when both sides are judged to be normal, the time that the distance between the two carriers is smaller than the identification distance is calculated, when the two carriers do not process within the threshold time T, and when the threshold time T is exceeded, the single machine far away from the cluster center is selected to be used as the evasion maneuver according to the formation position of the two single machines within the cluster; and sends the state that the self is in the maneuver evading state to the outside; the evasion maneuver generates a control quantity according to the position relation of the two carriers in the formation in the cluster and the real-time maneuver characteristics, adjusts the motion track of the evasion maneuver to carry out evasion action, and avoids direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
Further, in the sixth step, when both sides are abnormal, according to the formation positions of the two carriers in the cluster, a single machine far away from the cluster center is selected to be used as an evasion maneuver; and externally sending the state that the self is positioned abnormally;
the evasion maneuver generates a control quantity according to the position relation of the two carriers in the formation in the cluster and the real-time maneuver characteristics, adjusts the motion track of the evasion maneuver to carry out evasion action, and avoids direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
The invention also aims to provide an information data processing terminal for realizing the RFID cluster internal navigation positioning method.
It is another object of the present invention to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the RFID cluster based internal navigation positioning method. In summary, the advantages and positive effects of the invention are: the invention establishes an interaction mechanism in the cluster, and utilizes the positioning information of normal monomers in the cluster to assist the abnormal monomers to complete positioning in a relative navigation mode, thereby improving the integral positioning capability of the cluster. The RFID technology can realize the identification of objects in a certain range, has two functions of ranging and identification, establishes an auxiliary positioning function by means of the characteristic, realizes the positioning in a cluster and helps to realize cluster control. A local communication network is established in the cluster by using the uniqueness of the RFID label and the controllability of the RFID identification distance, and the navigation positioning control module is used for assisting positioning by using the information of other carriers in the local communication network to complete cluster control: the invention has the advantages of low cost, small system complexity, strong expandability, suitability for two-dimensional/three-dimensional cluster control and the like. The cost of a single RFID system is in the hundred yuan level, while the cost of realizing corresponding omnibearing identification by the laser radar and the camera in the prior art is at least in the thousand yuan level.
Drawings
FIG. 1 is a schematic structural diagram of an RFID cluster-based internal navigation positioning system according to an embodiment of the present invention;
in the figure: 1. a navigation positioning control module; 2. and identifying the communication module.
Fig. 2 is a flowchart of an RFID cluster based internal navigation positioning method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a navigation positioning control module based on an RFID cluster internal navigation positioning system according to an embodiment of the present invention.
In the figure: 3. an IMU; 4. a GPS; 5. a magnetometer; 6. a barometer; 7. a navigation control processor; 8. an RFID reader; 9. an RFID tag; 10. an antenna; 11. and a communication module.
Fig. 4 is a flowchart of an implementation of the RFID cluster based internal navigation positioning method according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a two-dimensional cluster system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the prior art, when the GPS fails, the IMU/GPS combination has lower navigation precision in a task period by simply improving the performance of the IMU. The magnetic field and gravity auxiliary technical means can assist positioning when the GPS fails, but the precision is relatively low, and the use requirement of a high-density cluster is difficult to meet. The related technologies such as laser and vision have high cost and cannot work and use all the weather.
Aiming at the problems in the prior art, the invention provides a system and a method for navigating and positioning inside a cluster based on RFID, and the invention is described in detail with reference to the accompanying drawings.
As shown in fig. 1, an RFID cluster-based internal navigation positioning system provided in an embodiment of the present invention includes: navigation positioning control module 1, and identification communication module 2.
And the navigation positioning control module 1 is used for assisting positioning by utilizing information of other carriers in the local communication network.
And the identification communication module 2 is used for establishing communication relation among the corresponding monomers, realizing establishment of local communication in the cluster, and assisting in completing positioning in the cluster by taking the set RFID identification distance as auxiliary information.
As shown in fig. 2, the method for navigation and positioning based on RFID cluster provided in the embodiment of the present invention includes the following steps:
s201: and setting a safety identification distance according to the cluster control task, and selecting the working frequency of the corresponding RFID reader-writer.
S202: the IMU/GPS/magnetometer/barometer completes the integrated navigation positioning function and sends the navigation information to the navigation control processor.
S203: and the navigation control processor adjusts the control parameters according to the current positioning information and the planning path information to control the carrier to move.
S204: when the distance between the two carriers is smaller than the safety distance, the RFID system identifies the carrier entering the distance and sends the corresponding carrier information to the communication module.
S205: the communication module establishes local communication with a carrier entering a safe distance, sends information such as self state, positioning, path planning and the like to the opposite side, and sends the received information of the opposite side to the navigation control processor.
S206: and the navigation control processor judges and detects the abnormity of the working states of the two parties according to the working states of the navigation control processor and the other party.
S207: when the distance between the two carriers is larger than the safe distance, the RFID system recognizes the state and sends corresponding information to the communication module, and after the communication module sends the state that the distance between the two carriers is in the safe distance to the navigation control processor, the communication between the two carriers is interrupted.
In the preferred embodiment of the present invention, step S206 adopts different strategies according to different abnormal conditions at the same time as follows:
(1) the self exception is as follows: when the self abnormality (such as GPS communication interruption) is judged, the position correction quantity is obtained by utilizing the positioning information of the normal carrier, the formation position relation of the two carriers in the cluster and the identification distance of the RFID; correcting the self position by using the correction quantity; generating corresponding control quantity according to the corrected position and the planning route information to correct the carrier movement and get close to the normal path; and sending the state that the self is positioned abnormally to the outside;
(2) abnormality of the other party: generating control quantity according to the position relation of the formation of the two carriers in the cluster and the real-time maneuvering characteristics, adjusting the motion track of the carrier to avoid actions, and avoiding direct collision with an abnormal carrier; and sends the state that the self is in the maneuver evading state to the outside;
(3) the method is normal: when both the two parties are judged to be normal, calculating the time that the distance between the two carriers is smaller than the identification distance, when the two carriers are not processed within the threshold time T, and when the threshold time T is exceeded, selecting the single machine far away from the cluster center to be used as the evading maneuver as described in the step (2) according to the formation position of the two single machines in the cluster; and sends the state that the self is in the maneuver evading state to the outside;
(4) both are abnormal: when both sides are abnormal, selecting a single machine far away from the cluster center to perform the evasion maneuver as the step (2) according to the formation positions of the two carriers in the cluster; and externally sending the state that the self is in positioning abnormity.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, the navigation positioning control module based on the RFID cluster internal navigation positioning system provided in the embodiment of the present invention includes: IMU (3), GPS (4), magnetometer (5), barometer (6) and navigation control processor (7). The navigation positioning control module has two functions of navigation positioning and control, wherein the IMU (3) is combined with the GPS (4), the magnetometer (5) and the barometer (6) to realize the navigation positioning function. The IMU (3) senses the angular speed and the acceleration of the carrier and completes navigation solution by using sensed information, and the IMU (3) can provide continuous real-time full navigation information, but the information is dispersed along with time and needs other sensors to provide reference information for assisting correction. The auxiliary sensors selected here include, but are not limited to, GPS (4), magnetometer (5) and barometer (6), wherein GPS (4) assists IMU (3) in performing information corrections for speed, position and horizontal attitude, magnetometer (5) assists IMU (3) in performing information corrections for heading, and barometer (6) assists IMU (3) in performing corrections for altitude information. The navigation control processor (7) realizes a control function, generates a control instruction by using the corrected real-time positioning information and the position information of the mission planning, controls the carrier to generate maneuver, and finishes the maneuver according to the planned route.
The identification communication module comprises: RFID system and communication module. The RFID is a system for non-contact communication by using radio frequency, and generally comprises an RFID reader (8) (also called a reader/writer, a scanner, and a communicator), an RFID tag (9) (also called a radio frequency tag and a transponder), and an antenna (10). The RFID label (9) and the RFID reader-writer (8) realize the coupling of radio frequency signals through a coupling element, and the energy transfer and the data exchange are completed. The RFID system can control the read-write distance through the setting of the RFID reader-writer (8), and achieves the function of identifying the RFID label (9) in the entering range. In the identification communication module, the RFID system identifies other monomers in the cluster within the entering range, and sends the monomer information to the communication module (11), the communication module (11) establishes communication with the corresponding monomers to realize the establishment of local communication in the cluster, and meanwhile, the set RFID identification distance is used as auxiliary information to assist in completing the positioning in the cluster.
Fig. 4 is a principle of an RFID cluster based internal navigation positioning method according to an embodiment of the present invention.
As shown in fig. 5, the two-dimensional clustering system of the present invention is a schematic diagram corresponding to a single vehicle, and the system workflow is discussed with the schematic diagram as a scene, wherein the dotted line in the figure is the identification distance of RFID.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An RFID cluster internal navigation positioning method based on an RFID cluster internal navigation positioning system is characterized in that the RFID cluster internal navigation positioning method comprises the following steps:
firstly, setting a safety identification distance according to a cluster control task, and selecting a corresponding working frequency of an RFID reader-writer;
secondly, the IMU/GPS/magnetometer/barometer completes the integrated navigation positioning function and sends navigation information to the navigation control processor;
thirdly, the navigation control processor adjusts control parameters according to the current positioning information and the planning path information to control the carrier to move;
fourthly, when the distance between the two carriers is smaller than the safety distance, the RFID system identifies the carrier entering the distance and sends the information of the corresponding carrier to the communication module;
fifthly, local communication is established between the communication module and a carrier entering a safe distance, information such as self state, positioning and path planning is sent to the opposite side, and meanwhile, the received information of the opposite side is sent to the navigation control processor;
sixthly, judging to perform abnormal detection of the working states of the two parties by the navigation control processor according to the working states of the navigation control processor and the other party;
and seventhly, when the distance between the two carriers is greater than the safe distance, the RFID system identifies the state and sends corresponding information to the communication module, and after the communication module sends the state that the distance between the two carriers is in the safe distance to the navigation control processor, the communication between the two carriers is interrupted.
2. The RFID-based cluster internal navigation positioning method of claim 1, wherein in the sixth step, when judging the self is abnormal, the positioning information of the normal carrier, the formation position relationship of the two carriers in the cluster, and the RFID identification distance are used to obtain the position correction; correcting the self position by using the correction quantity; generating corresponding control quantity according to the corrected position and the planning route information to correct the carrier movement and get close to the normal path; and sends the state that the self is in abnormal positioning outwards.
3. The RFID-cluster-based internal navigation positioning method according to claim 1, wherein in the sixth step, control quantities are generated according to the formation position relationship and real-time maneuvering characteristics of the two carriers in the cluster, and the motion trail of the carrier is adjusted to avoid direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
4. The RFID-cluster-based internal navigation positioning method according to claim 1, wherein in the sixth step, when both sides are judged to be normal, the time that the distance between the two carriers is less than the identification distance is calculated, when the two carriers do not process within the threshold time T, and when the threshold time T is exceeded, the single machine far away from the cluster center is selected as the evasive maneuver according to the formation position of the two single machines within the cluster; and sends the state that the self is in the maneuver evading state to the outside; the evasion maneuver generates a control quantity according to the position relation of the two carriers in the formation in the cluster and the real-time maneuver characteristics, adjusts the motion track of the evasion maneuver to carry out evasion action, and avoids direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
5. The RFID-cluster-based internal navigation positioning method according to claim 1, wherein in the sixth step, when both sides are abnormal, a single machine far away from the cluster center is selected as an evasive maneuver according to the formation positions of the two carriers in the cluster; and externally sending the state that the self is positioned abnormally;
the evasion maneuver generates a control quantity according to the position relation of the two carriers in the formation in the cluster and the real-time maneuver characteristics, adjusts the motion track of the evasion maneuver to carry out evasion action, and avoids direct collision with an abnormal carrier; and sends itself out in a state of avoiding maneuver.
6. An RFID cluster internal navigation positioning system for implementing the RFID cluster internal navigation positioning method of claim 1, wherein the RFID cluster internal navigation positioning system comprises:
the navigation positioning control module is used for assisting positioning by utilizing information of other carriers in a local communication network;
and the identification communication module is used for establishing communication relation among the corresponding monomers, realizing the establishment of local communication in the cluster, and assisting in finishing the positioning in the cluster by taking the set RFID identification distance as auxiliary information.
7. The RFID cluster based internal navigational positioning system of claim 6, wherein the navigational positioning control module comprises: IMU, GPS, magnetometer, barometer, navigation control processor;
the IMU is combined with the GPS, the magnetometer and the barometer to realize the navigation positioning function; the IMU senses the angular velocity and the acceleration of the carrier and completes navigation calculation by using sensed information, and the IMU provides continuous real-time full navigation information;
the GPS assists the IMU to complete information correction of speed, position and horizontal attitude, the magnetometer assists the IMU to complete information correction of course, and the barometer assists the IMU to complete correction of altitude information;
the navigation control processor realizes a control function, generates a control instruction by using the corrected real-time positioning information and the position information of the task planning, controls the carrier to generate maneuver, and finishes the maneuver according to the planned route.
8. The RFID cluster based internal navigational positioning system of claim 6, wherein the identification communication module comprises: an RFID system and a communication module;
the RFID system consists of an RFID reader-writer, an RFID label and an antenna; the RFID label and the RFID reader-writer realize the coupling of radio frequency signals through a coupling element to finish the energy transfer and the data exchange; the RFID system controls the read-write distance through the setting of the RFID reader-writer, so that the function of identifying the RFID label in the entering range is achieved; in the identification communication module, the RFID system identifies other monomers in the cluster within the entering range and sends the information of the monomers to the communication module, the communication module establishes communication with the corresponding monomers to realize the establishment of local communication in the cluster, and meanwhile, the set RFID identification distance is used as auxiliary information to assist in completing the positioning in the cluster.
9. An information data processing terminal for implementing the RFID cluster internal navigation positioning method as claimed in any one of claims 1-5.
10. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the RFID cluster based internal navigation positioning method of any of claims 1-5.
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| CN112650281B (en) * | 2020-12-14 | 2023-08-22 | 一飞(海南)科技有限公司 | Multi-sensor three-redundancy system, control method, unmanned aerial vehicle, medium and terminal |
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