CN112179346A - Indoor navigation system of unmanned trolley and use method thereof - Google Patents
Indoor navigation system of unmanned trolley and use method thereof Download PDFInfo
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- 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
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- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
The invention relates to the field of navigation methods, in particular to an indoor navigation system of an unmanned trolley and a use method thereof, wherein the system comprises a turtle bot3 trolley, an STM32 singlechip used for reading data information and packaging the data information into frame signals according to a communication protocol and sending the frame signals, a central processor based on an ROS system to control the movement of the turtle bot3 trolley, and the system also comprises: DWM1000 ultra-wideband module, communication module, power and pilot lamp module, its concrete step includes: s1: extracting distance information; s2: solving coordinates; s3: displaying coordinates; the method comprises the steps of establishing an ultra-wideband indoor positioning system by using a base station and a label based on an ultra-wideband positioning mode of arrival time, designing a coordinate calculation algorithm to solve the coordinate position of the unmanned trolley, displaying a current coordinate point in real time through an interface, and simultaneously issuing the coordinate position of a target in a message form from a node according to the requirements of an ROS operating system to be directly used as a navigation data source of the unmanned trolley, so that the target can be subscribed and directly used by other nodes of the unmanned trolley.
Description
Technical Field
The invention relates to the field of navigation methods, in particular to an indoor navigation system of an unmanned trolley and a using method thereof.
Background
Page 179-182 of "computer measurement and control" journal, volume 25, phase 11, published in 11 months in 2017, discloses an indoor positioning system design based on ultra-wideband technology, and the indoor positioning system mainly comprises: the system comprises four parts of indoor article information acquisition, indoor article characteristic extraction, indoor article clustering and indoor positioning. The indoor positioning system terminal controls other components, so that the information of indoor articles is collected for accelerating the design speed of the indoor positioning system, the characteristics of the indoor articles are extracted, the indoor articles are clustered for improving the positioning accuracy, and the design of the indoor positioning system is completed based on the result. The scheme has the defects that the indoor positioning can only be performed when the number of indoor articles is large, and the indoor positioning of a single object cannot be completed.
Pages 44-46 of volume 44, 12 th of electronic technology application published in 12.2018 disclose an indoor mobile target positioning system design, which is based on an ultra-wideband technology and combined with an embedded system to design an indoor mobile target positioning system, and comprises a positioning base station and a positioning tag, so that accurate positioning and track tracking of a mobile target can be realized. The method has the defects that the extraction of the positioning information is not generalized and can not be directly used as a navigation data source of the trolley.
Disclosure of Invention
In order to solve the problems, the invention provides an indoor navigation system of an unmanned trolley and a using method thereof.
An indoor navigation system of unmanned trolley, includes the turnlebot 3 trolley, is used for reading the STM32 singlechip that the data message packed into the frame signal and sent according to communication protocol, based on ROS system control turnlebot 3 trolley motion central processor, still includes:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and sending, and controls the switching of the working state mode by controlling a relevant register;
the communication module is connected with a serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power and pilot lamp module is connected the power supply with DWM1000 ultra wide band module and STM32 singlechip, uses the TPS73601 chip to convert the 5V of power into 3.3V level and supplies with STM32 singlechip and DWM1000 ultra wide band module.
The central processor is a vehicle-mounted computer or a ground control station computer.
The DWM1000 ultra wide band module comprises an ultra wide band tag placed on a target to be positioned, three groups of ultra wide band base stations respectively used for measuring the distances from the ultra wide band base stations to the target, and a data receiving base station arranged on a central processing unit and used for receiving data of the ultra wide band base stations.
The interface form of the communication module is a USB interface, and the communication mode is a serial RS232 protocol.
A use method of an indoor navigation system of an unmanned trolley comprises the following specific steps:
s1: extracting distance information:
a: performing positioning label work by using mc data, and putting the received data into a cache for waiting processing;
b: detecting the data, and if an mc character string is received, starting to process the subsequent character strings;
c: converting the content of the character string into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) coordinate solving:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points A, B and C are respectively (X1, Y1), (X2, Y2), (X3 and Y3);
b: three circles respectively taking the point A, the point B and the point C as circle centers are intersected at a point D;
c: reading the distances from the target point to the coordinates ABC of the three anchor nodes, namely the distances between the point A, the point B, the point C and the intersection point D are D1, D2 and D3 respectively;
d: let the coordinates of the intersection point D be (X, Y). Equation set (1) can be obtained;
e: the coordinates of the intersection point D can be obtained from equation (1):
f: writing codes by formula (2) for a programming language with a relatively strong MATLAB and Python mathematical function; for a device which can only be programmed by using the standard C language in the single chip class, the inverse of a matrix and the matrix multiplication are manually written into an algebraic form;
s3: and (3) coordinate display:
a: importing a Matplotlib package to draw coordinate points;
b: importing a Matplotlib. Python module for data drawing;
c: setting X, Y coordinate range;
d: generating a graph;
e: determining the color and shape attributes displayed by the coordinate points;
f: drawing the coordinate points obtained by solving in the graph;
g: the interval is 1 ms;
h: whether the quitting is interrupted or not, if not, repeating from the step c, and if so, ending;
s4: and initializing a positioning output node, and issuing the obtained position information according to the ROS system message for the direct use of the waffle dolly.
The coordinate solution of step S2 is trilateration.
The intersection point D in step S2 b is the mobile node, and A, B, C is the reference node.
The invention has the beneficial effects that: the invention relates to an ultra-wideband positioning method based on arrival time, which is characterized in that an ultra-wideband indoor positioning system is built by using a base station and a label, a coordinate calculation algorithm is designed to solve the coordinate position of an unmanned trolley, the indoor coordinate position of a single target can be obtained through the method, the current coordinate point can be displayed in real time through an interface, the motion trail of a period of time is drawn, meanwhile, the coordinate position of the target can be published from a node in a message form according to the requirements of an ROS operating system, and the target can be directly used as a navigation data source of the trolley, so that the target can be subscribed and directly used by other nodes of.
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The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the DWM1000 UWB module of the present invention;
FIG. 3 is a schematic diagram of the STM32 single chip microcomputer structure of the present invention;
FIG. 4 is a schematic diagram of the schematic structure of a DWM1000 UWB module of the present invention;
FIG. 5 is a schematic diagram of a communication module according to the present invention;
FIG. 6 is a schematic diagram of the power and indicator light module of the present invention;
FIG. 7 is a schematic diagram illustrating a process of extracting distance information according to the present invention;
FIG. 8 is a schematic diagram of the trilateration principle of the present invention;
FIG. 9 is a schematic diagram of a coordinate solving flow structure according to the present invention;
FIG. 10 is a schematic diagram of a coordinate display process according to the present invention;
fig. 11 is a schematic diagram of the flow structure of S1 for extracting distance information according to the present invention;
fig. 12 is a schematic diagram of the flow structure of S2 for extracting distance information according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 12, an indoor navigation system for an unmanned vehicle includes a turtle bot3 vehicle, an STM32 single chip microcomputer for reading data information, packing the data information into frame signals according to a communication protocol, and sending the frame signals, a central processor for controlling the movement of the turtle bot3 vehicle based on an ROS system, and further includes:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and sending, and controls the switching of the working state mode by controlling a relevant register;
the communication module is connected with a serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power and pilot lamp module is connected the power supply with DWM1000 ultra wide band module and STM32 singlechip, uses the TPS73601 chip to convert the 5V of power into 3.3V level and supplies with STM32 singlechip and DWM1000 ultra wide band module.
An ultra-wideband positioning mode based on arrival time is adopted, an ultra-wideband indoor positioning system is built by using a base station and a label, and a coordinate calculation algorithm is designed to solve the coordinate position of the unmanned trolley.
The indoor coordinate position of a single target can be obtained through the method, the current coordinate point can be displayed in real time through the interface, and the motion trail of a period of time can be drawn.
The coordinate position of the target can be published in a message form from the node according to the requirements of the ROS operating system, and directly used as a navigation data source to the vehicle, so that the coordinate position of the target can be subscribed and directly used by other nodes of the unmanned vehicle.
And the central processing machine receives data sent by a data receiving base station of the DWM1000 ultra-wideband module, calculates to obtain the coordinate position of the label, and finally displays the position on the central processing machine in real time.
Meanwhile, the central processor controls the movement of the turtlebot3 trolley based on the ROS system, so the central processor needs to run the Ubuntu 16.04 operating system instead of the Windows system, and run the ROS program and the positioning display program of the DWM1000 ultra-wideband module under the operating system.
As shown in fig. 3, the circuit of the STM32 single chip microcomputer includes:
a power supply circuit: pins 1, 6, 19 and 27 of the U2 chip are connected with 3.3V, and pins 5, 18, 26 and 36 are connected with ground to complete the power supply of the single chip microcomputer;
a reset circuit: 4 pins of the U2 chip are pulled up to 3.3V through a 10K resistor and are pulled down to the ground through a 100nF capacitor, so that the resistance-capacitance reset of the single chip microcomputer is realized;
a clock circuit: pins 2 and 3 of the U2 chip are connected to pins 3 and 1 of an 8M crystal oscillator to provide a clock; STM32F103 is used as a controller of the USB positioning module, signals of the DWM1000 ultra-wideband module are read in and processed by data, the distance between a base station and a label is calculated, and the signals are packed into frame signals according to a communication protocol and sent out through the communication module.
The central processor is a vehicle-mounted computer or a ground control station computer.
The distance between the transmitting point and the receiving point is obtained by measuring the time for the transmitted signal of the measured point, namely the label point, to reach more than 3 reference node receivers, namely base stations.
And (3) taking the receiver as the center of a circle, taking the measured distance as the radius to make a circle, and taking the intersection point of the 3 circles as the position of the measured point.
In the implementation process of the method, the distance information between the positioning tag and each base station needs to be measured, so that the positioning tag needs to communicate with each base station back and forth, and the power consumption of the positioning tag is high.
The positioning method has the advantage that high positioning accuracy can be kept inside and outside a positioning area, namely inside and outside an area enclosed by the base station.
The DWM1000 ultra wide band module comprises an ultra wide band tag placed on a target to be positioned, three groups of ultra wide band base stations respectively used for measuring the distances from the ultra wide band base stations to the target, and a data receiving base station arranged on a central processing unit and used for receiving data of the ultra wide band base stations. The specific communication protocol is as follows:
as shown in fig. 4, dwm1000 circuit diagram of ultra-wideband module:
the UWB1 module takes dwm1000 chip as core, wherein the power supply part is that 5, 6, 7 pins of the chip are connected with 3.3V, 8 pins are grounded; the SPI bus is adopted to communicate with the single chip microcomputer, and pins 17, 18, 19 and 20 of the chip are connected with pins 11, 12, 13 and 14 of the single chip microcomputer; the 3 feet of the chip are connected with the 7 feet of the single chip microcomputer so as to reset the chip by using the single chip microcomputer; pin 2 of the chip is connected with pin 15 of the singlechip to send a wake-up signal to the singlechip by using the singlechip; pin 1 of the chip is connected with pin 20 of the singlechip to send an external equipment enabling signal to the singlechip; the 22 feet of the chip are connected with the 32 feet of the single chip microcomputer and are connected with the resistors to be pulled down, and an interrupt signal is sent to the single chip microcomputer.
dwm1000 ultra-wideband module can select to receive and send two kinds of mode states when working, and the switching of operating condition mode can be controlled through controlling relevant register, and STM32 singlechip reads and writes dwm1000 ultra-wideband module's wireless transceiver chip through SPI, accomplishes the information exchange between the communication equipment.
As shown in fig. 5, the ultra-wideband positioning module communicates with a computer by using an RS232 serial port, and since most of existing computers are equipped with USB interfaces, the communication interface is used in a USB connector mode, and an STM32 single chip microcomputer is provided with an RS232 communication module with a USB interface, and pins 23 and 24 of the single chip microcomputer are connected with pins 2 and 3 of a Micro USB interface to serve as USB transceiving lines; connecting a 16 pin of the singlechip with a resistor and then connecting a 3 pin of a Micro USB interface to realize the enabling of the USB; connecting a pin 1 of a Micro USB interface with a 5V power supply to realize the introduction of a power supply from a USB; pins 4, 5, 6, 7, 8, 9, 10 and 11 of the Micro USB interface are grounded.
The communication module is used for sending the ultra-wideband data frame to a vehicle-mounted computer or a ground control station computer, the interface of the communication module is a USB interface, the communication mode of the communication module is a serial port RS232 protocol, and the communication module is connected with a serial port interface of an STM32STM32 singlechip.
As shown in fig. 6, the power supply and indicator light module adopts a TPS73601 chip for power supply conversion, pin 1 of the chip is connected to pin 1 of the Micro USB interface, and the introduced USB 5V power supply is used as input; 5 pins of the chip are converted into 3.3V output through a series of resistance-capacitance filtering to supply power to other chips.
The pilot lamp specifically includes: the singlechip operation indicator lamp D1 is connected with the pin 8 of the singlechip to indicate whether the system works or not; the power indicator lamp D2 is connected with the 3.3V to indicate whether the 3.3V power of the system is normal; dwm1000 communication indicator lamps D3 and D4 are connected to pins 13 and 12 of dwm1000 chip for indicating the receiving and transmitting communication of dwm1000 chip.
dwm1000 ultra-wideband module's power comes from the 5V voltage of USB interface, uses TPS73601 chip to change 5V into the 3.3V level and supplies STM32 and dwm1000 ultra-wideband module class chip to there is the power indicator lamp to indicate whether normal, connects the pilot lamp at the port of serial ports simultaneously, indicates whether normal receiving and dispatching.
The interface form of the communication module is a USB interface, and the communication mode is a serial RS232 protocol.
A use method of an indoor navigation system of an unmanned trolley comprises the following specific steps:
s1: extracting distance information:
a: performing positioning label work by using mc data, and putting the received data into a cache for waiting processing;
b: detecting the data, and if an mc character string is received, starting to process the subsequent character strings;
c: converting the content of the character string into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) coordinate solving:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points A, B and C are respectively (X1, Y1), (X2, Y2), (X3 and Y3);
b: three circles respectively taking the point A, the point B and the point C as circle centers are intersected at a point D;
c: reading the distances from the target point to the coordinates ABC of the three anchor nodes, namely the distances between the point A, the point B, the point C and the intersection point D are D1, D2 and D3 respectively;
d: let the coordinates of the intersection point D be (X, Y). Equation set (1) can be obtained;
e: the coordinates of the intersection point D can be obtained from equation (1):
f: writing codes by formula (2) for a programming language with a relatively strong MATLAB and Python mathematical function; for a device which can only be programmed by using the standard C language in the single chip class, the inverse of a matrix and the matrix multiplication are manually written into an algebraic form;
s3: and (3) coordinate display:
a: importing a Matplotlib package to draw coordinate points;
b: importing a Matplotlib. Python module for data drawing;
c: setting X, Y coordinate range;
d: generating a graph;
e: determining the color and shape attributes displayed by the coordinate points;
f: drawing the coordinate points obtained by solving in the graph;
g: the interval is 1 ms;
h: whether the quitting is interrupted or not, if not, repeating from the step c, and if so, ending;
s4: and initializing a positioning output node, and issuing the obtained position information according to the ROS system message for the direct use of the waffle dolly.
The coordinate solution of step S2 is trilateration.
The intersection point D in step S2 b is the mobile node, and A, B, C is the reference node.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides an indoor navigation of unmanned dolly, includes the certlebot 3 dolly, is used for reading the STM32 singlechip that data message packed into frame signal and sent according to communication protocol, based on ROS system control certlebot 3 dolly motion central processing unit which characterized in that: further comprising:
the DWM1000 ultra-wideband module is matched with the STM32 singlechip, selects two mode states of receiving and sending, and controls the switching of the working state mode by controlling a relevant register;
the communication module is connected with a serial port interface of the STM32 singlechip and is used for sending the DWM1000 ultra-wideband data frame to the central processor;
the power and pilot lamp module is connected the power supply with DWM1000 ultra wide band module and STM32 singlechip, uses the TPS73601 chip to convert the 5V of power into 3.3V level and supplies with STM32 singlechip and DWM1000 ultra wide band module.
2. The indoor navigation system of the unmanned aerial vehicle as claimed in claim 1, wherein: the central processor is a vehicle-mounted computer or a ground control station computer.
3. The indoor navigation system of the unmanned aerial vehicle as claimed in claim 1, wherein: the DWM1000 ultra wide band module comprises an ultra wide band tag placed on a target to be positioned, three groups of ultra wide band base stations respectively used for measuring the distances from the ultra wide band base stations to the target, and a data receiving base station arranged on a central processing unit and used for receiving data of the ultra wide band base stations.
4. The indoor navigation system of the unmanned aerial vehicle as claimed in claim 1, wherein: the interface form of the communication module is a USB interface, and the communication mode is a serial RS232 protocol.
5. Use of the indoor navigation system of the unmanned vehicle according to any one of claims 1 to 4, wherein: the method comprises the following specific steps:
s1: extracting distance information:
a: performing positioning label work by using mc data, and putting the received data into a cache for waiting processing;
b: detecting the data, and if an mc character string is received, starting to process the subsequent character strings;
c: converting the content of the character string into data by using a special conversion function int in the Python language and storing the data into a distance variable;
s2: and (3) coordinate solving:
a: reading three anchor node coordinate points A, B and C as circle centers, wherein the three anchor node coordinate points A, B and C are respectively (X1, Y1), (X2, Y2), (X3 and Y3);
b: three circles respectively taking the point A, the point B and the point C as circle centers are intersected at a point D;
c: reading the distances from the target point to the coordinates ABC of the three anchor nodes, namely the distances between the point A, the point B, the point C and the intersection point D are D1, D2 and D3 respectively;
d: let the coordinates of the intersection point D be (X, Y). Equation set (1) can be obtained;
e: the coordinates of the intersection point D can be obtained from equation (1):
f: writing codes by formula (2) for a programming language with a relatively strong MATLAB and Python mathematical function; for a device which can only be programmed by using the standard C language in the single chip class, the inverse of a matrix and the matrix multiplication are manually written into an algebraic form;
s3: and (3) coordinate display:
a: importing a Matplotlib package to draw coordinate points;
b: importing a Matplotlib. Python module for data drawing;
c: setting X, Y coordinate range;
d: generating a graph;
e: determining the color and shape attributes displayed by the coordinate points;
f: drawing the coordinate points obtained by solving in the graph;
g: the interval is 1 ms;
h: whether the quitting is interrupted or not, if not, repeating from the step c, and if so, ending;
s4: and initializing a positioning output node, and issuing the obtained position information according to the ROS system message for the direct use of the waffle dolly.
6. The use method of the indoor navigation system of the unmanned vehicle as set forth in claim 5, wherein: the coordinate solution of step S2 is trilateration.
7. The use method of the indoor navigation system of the unmanned vehicle as set forth in claim 5, wherein: the intersection point D in step S2 b is the mobile node, and A, B, C is the reference node.
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