CN112309115A - Multi-sensor fusion-based on-site and off-site continuous position detection and parking accurate positioning method - Google Patents

Multi-sensor fusion-based on-site and off-site continuous position detection and parking accurate positioning method Download PDF

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CN112309115A
CN112309115A CN202011166087.1A CN202011166087A CN112309115A CN 112309115 A CN112309115 A CN 112309115A CN 202011166087 A CN202011166087 A CN 202011166087A CN 112309115 A CN112309115 A CN 112309115A
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positioning
threshold value
uwb
eddy current
signal
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CN112309115B (en
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张先勇
郑立斐
李小青
杨鸿斌
汤宗磊
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Huazhong University of Science and Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

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Abstract

The invention belongs to the technical field of position determination and accurate positioning of a torpedo car in and out of a blast furnace workshop in the metallurgical industry, and discloses an intra-field and extra-field continuous position detection and parking positioning method based on multi-sensor fusion. Detecting a UWB base station signal after the torpedo car enters a blast furnace workshop, judging whether the UWB base station signal is greater than a threshold value, and if so, adopting UWB signal navigation positioning and outputting a positioning position; detecting a signal of the eddy current sensor in the parking process and judging whether the signal of the eddy current is greater than a threshold value; and when the electric eddy current signal is larger than the threshold value, outputting the data of the electric eddy current sensor and calculating the position. When the torpedo car is driven out of the blast furnace workshop, the operation is reversed.

Description

Multi-sensor fusion-based on-site and off-site continuous position detection and parking accurate positioning method
Technical Field
The invention belongs to the technical field of navigation and parking accurate positioning of torpedo car in metallurgical industry, and particularly relates to an on-site and off-site continuous position detection and parking positioning method based on multi-sensor fusion.
Background
At present, large-scale metallurgical enterprises generally adopt GPS and RFID radio frequency positioning technology to position the running position of a rail transport vehicle (a torpedo car) in a factory, the precision is generally in a meter level, and the requirements of production scheduling and safety monitoring of transport nodes can be completely met. When the torpedo car enters the factory building, the satellite positioning receiver cannot effectively receive satellite signals, and an indoor positioning technology must be adopted. The conventional positioning technology and equipment are not suitable for special environments, and continuous monitoring and positioning of different signals from indoor and outdoor cannot be realized. The parking process of the torpedo car is realized by a professional through commanding the driver to complete positioning in real time through the interphone.
In summary, the problems of the prior art are as follows: the existing positioning technology cannot adapt to special environment (high temperature and much dust); the monitoring and positioning of different indoor and outdoor signals are relatively independent, and continuous switching is not realized in a signal interaction area. The parking positioning of the torpedo tank car still adopts a manual command mode.
The difficulty of solving the technical problems is as follows: and in the signal interaction area, the signal strength is judged, so that a correct positioning mode is selected, and bidirectional free switching is realized. Selecting a technical method suitable for severe environment.
The significance of solving the technical problems is as follows: in the metallurgical industry and high-temperature molten metal transfer operation, the torpedo car loses satellite signals after entering a factory building, and the invention can realize the continuous position detection of vehicles indoors and outdoors and solve the problem of satellite positioning blind areas. The technical method adopted by the invention can adapt to severe working environment (high temperature and much dust). The invention realizes the unmanned command of the torpedo tank car to stop.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an on-site and off-site continuous position detection and parking positioning method based on multi-sensor fusion.
The invention is realized in this way, a torpedo car indoor and outdoor continuous position detection and accurate positioning method based on multi-sensor fusion, comprising:
step one, performing threshold detection on an eddy current, and performing threshold detection on the number of UWB base stations if the eddy current signal is smaller than a set threshold;
if the eddy current signal is larger than the threshold value, switching the detection of the strength of the eddy current signal in indoor navigation;
judging whether the threshold value of the number of UWB base stations is larger than a set threshold value or not, and if the threshold value of the number of UWB base stations is larger than the set threshold value, carrying out UWB signal acquisition switching in indoor navigation;
if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the threshold value of the number of detected effective satellites is smaller than the set threshold value, the current estimated position is directly fitted through a least square method to be used as the positioning position to be output;
if the threshold value of the number of detected effective satellites is larger than the set threshold value, outdoor navigation switching is carried out, and satellite signals are obtained; and performing Kalman filtering prediction, and directly outputting the current estimation position as a positioning position, or fitting by a least square method or directly outputting the current estimation position as the positioning position.
Further, in the first step, after the intensity of the eddy current signal in the indoor navigation is detected, the eddy current distance measurement result conversion and the eddy current distance measurement coordinate conversion are carried out to obtain the position relation between the eddy current sensor and the parking limit target, and the current position of the torpedo car is output.
Further, in the second step, after the UWB signal in the indoor navigation is acquired, the UWB positioning coordinate system is transformed, Kalman filtering prediction is performed, and the current estimated position of the torpedo car is directly output as the positioning position, or the current estimated position of the torpedo car is directly output as the positioning position through least square fitting or directly output.
Further, the Kalman filtering prediction method includes:
the predicted value calculation formula is as follows:
X(k|k-1)＝AX(k-1|k-1)+BU(k)；
wherein A is a state transition matrix, X (k-1| k-1) is the optimal result of the system state at the moment k-1, and X is expressed as a matrix [ p, v ] formed by the optimal position, speed and acceleration at the previous moment in the vehicle positioning application]TThe state transition matrix a is denoted as [1, Δ t; 0,1]Δ t is the sampling interval; bu (k) is approximately 0 if the vehicle is approximately in uniform motion;
the covariance predicted value at the k-1 moment corresponding to the predicted value X (k | k-1) is as follows:
P(k|k-1)＝AP(k-1|k-1)AT+Q；
wherein P (k-1| k-1) is the optimal result of the covariance at the moment of k-1, Q system process noise covariance;
the gain value at time k of the Kalman filter is:
Kg(k)＝P(k|k-1)HT/[HP(k|k-1)HT+R]；
wherein H is a system measurement matrix which is usually [1, 0 ]; r is the measurement noise covariance;
the optimal value of the system state at the moment k is as follows:
X(k|k)＝X(k|k-1)+Kg(k)[Z(k)-HX(k|k-1)]；
wherein Z (k) is a system measurement value at the time k;
the covariance corresponding to the optimal result of the system at the moment k is:
P(k|k)＝[1-Kg(k)H]P(k|k-1)。
further, the method for converting the UWB positioning coordinate system adopts a TDOA time difference of arrival positioning method, and obtains the fixed distance difference between the tag and different base stations by measuring the UWB signal propagation time difference from the positioning tag to the base stations, so as to realize the positioning of the moving target; distance d between measured base station A, B and location tag1、d2Then, the distance difference between the two is d21＝d2-d1According to the geometric principle, the positioning label takes two base stations as focal points and the distance difference to the two focal points is d21On the hyperbolic curve of (a), wherein di＝(ti-t0)·c，i＝1，2，3；tiTime, t, for the base station to receive the transmitted signal of the positioning tag0The time when the positioning tag transmits a signal to the base station;
the coordinates of the three base stations are (x)i，yi) And i is 1, 2, 3, and the coordinates of the positioning tag are (x, y), then:
Figure BDA0002745833490000031
Figure BDA0002745833490000032
and solving the two equations to obtain the coordinate position of the positioning label.
Further, the method for converting the UWB positioning coordinate system or the method for distributing weights specifically includes:
step 1, grouping base stations, dividing all base stations in a positioning environment into N groups through IDs, solving a combination number C (N, 3), and respectively carrying out trilateral positioning on each group;
step 2, distributing weight values according to the principle that the farther the distance is, the lower the reliability is;
step 3, weighting the result obtained by each combination to obtain a final positioning result;
the UWB positioning coordinate system conversion method or the hybrid positioning technology is adopted, and the positioning calculation is carried out by acquiring different positioning parameters by using a mixed mode of TDOA, TOA and weight distribution.
Further, in the first step, when the vehicle is in the running process and the signal intensity of the eddy current sensor is monitored to be greater than the threshold value, other passages are shielded, only the eddy current position information is detected, and the eddy current position information is used as output;
in the second step, if the threshold value of the number of UWB base stations is greater than the set threshold value 3, the UWB signal in the indoor navigation is obtained and switched;
if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the detected effective satellite number threshold value is smaller than the set threshold value 4, the current estimated position is directly fitted through a least square method to be used as the positioning position to be output;
another object of the present invention is to provide an intra-field and extra-field continuous position detecting and precise positioning system based on multi-sensor fusion, which includes:
a switching module: the system is used for detecting an eddy current signal, a UWB base station signal and an effective satellite signal, comparing the detected signal value with the relevant threshold value, and adaptively selecting different navigation modules for navigation;
indoor positioning module: the UWB positioning system is used for carrying out indoor positioning by utilizing UWB positioning technology when a vehicle is indoors;
an outdoor positioning module: the system is used for carrying out outdoor positioning by utilizing a GPS positioning technology when the vehicle is outdoors;
a transition module: the positioning method comprises the following steps of positioning by utilizing least square fitting of UWB and satellite positioning information when a transport vehicle is in a transition state of indoor value outdoor or indoor outdoor value;
a position output module: for outputting the current navigational positioning location.
Another object of the present invention is to provide an intra-field and extra-field continuous position detecting and precise positioning device based on multi-sensor fusion, which includes:
a GPS receiver: the device is arranged at the position of the roof of the traction locomotive; for outdoor navigation;
UWB tag: the device is arranged at the position of the roof of the traction locomotive; used for indoor navigation;
positioning the eddy current sensor: installing the side surface of the traction locomotive, wherein the height of the side surface of the traction locomotive is the same as that of the parking benchmarking device on the side surface of the rail; the system is used for detecting whether the torpedo car is accurately parked in place;
UWB base station: the UWB base stations are uniformly installed in the dumping workshop and are located at the position without shielding on the same horizontal plane with the UWB tag;
parking target aligning plate: the parking target is arranged on the side surface of the track, and the mounting height of the parking target is the same as that of the positioning eddy current sensor arranged on the side surface of the vehicle body.
It is another object of the present invention to provide a program storage medium for receiving user input, the stored computer program causing an electronic device to perform the multi-sensor fusion based intra-and-out continuous position detection and accurate positioning, comprising the steps of:
performing threshold detection of the eddy current, and performing threshold detection of the number of UWB base stations if the eddy current signal is smaller than a set threshold;
if the eddy current signal is larger than the threshold value, switching the detection of the strength of the eddy current signal in indoor navigation;
judging whether the threshold value of the number of UWB base stations is larger than a set threshold value or not, and if the threshold value of the number of UWB base stations is larger than the set threshold value, carrying out UWB signal acquisition switching in indoor navigation;
if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the threshold value of the number of detected effective satellites is smaller than the set threshold value, the current estimated position is directly fitted through a least square method to be used as the positioning position to be output;
if the threshold value of the number of detected effective satellites is larger than the set threshold value, outdoor navigation switching is carried out, and satellite signals are obtained; and performing Kalman filtering prediction, and directly outputting the current estimation position as a positioning position, or fitting by a least square method or directly outputting the current estimation position as the positioning position.
In the invention, because the transport vehicle usually moves linearly at a low speed when entering the room, the transport vehicle can be approximately considered to move linearly in a short time, and therefore, the position data set X of the satellite in a certain time period can be obtained1({(x1-1，y1-1)，...((x1-m，y1-m) ) }) and UWB output position data set X in the same time period2({(x2-1，y2-1)，...((x2-m，y2-m) ) }) as input to a least-squares normative fit, we can obtain:
Figure BDA0002745833490000051
Figure BDA0002745833490000052
Figure BDA0002745833490000061
Figure BDA0002745833490000062
the slope of the space line where the transport vehicle runs is
Figure BDA0002745833490000063
An offset of
Figure BDA0002745833490000064
Therefore, when the transport vehicle runs to the next position, the corresponding y-axis coordinate can be calculated according to the acquired x-coordinate, the y-axis coordinate is compared with the y-axis data of the GPS and the UWB, and the position which is closer to the estimated value in the two y-axis coordinates is taken as the actual measured position data.
In summary, the advantages and positive effects of the invention are: the invention adopts satellite positioning and UWB fusion positioning in indoor and outdoor interactive areas, and executes the switching of navigation signals when reaching a certain threshold value condition, thereby realizing indoor and outdoor continuous navigation and avoiding the situation that the tracking positioning signals disappear in the positioning process.
The system and the method for continuous position detection and accurate positioning can be suitable for high-temperature and dust environments, and can be used for continuously positioning the interior and the exterior of the torpedo car in the high-temperature and dust environments.
The invention establishes a unified software platform, receives data of three positioning modes, calculates and processes the data, and realizes continuous monitoring and positioning of different signals from indoor and outdoor.
Drawings
Fig. 1 is a schematic structural diagram of an intra-field and extra-field continuous position detection and accurate positioning system based on multi-sensor fusion according to an embodiment of the present invention.
In the figure: 1. a switching module; 2. an indoor positioning module; 3. an outdoor positioning module; 4. a transition module; 5. and a position output module.
Fig. 2 is a flowchart of an intra-field and extra-field continuous position detection and accurate positioning method based on multi-sensor fusion according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an intra-field and extra-field continuous position detection and accurate positioning method based on multi-sensor fusion according to an embodiment of the present invention.
Fig. 4 is a schematic configuration diagram of a vehicle body sensor provided in the embodiment of the present invention.
Fig. 5 is a schematic diagram of an indoor sensor arrangement provided by an embodiment of the invention.
Fig. 6 is a schematic diagram of an arrangement of a UWB base station and a tag 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.
The existing positioning technology cannot adapt to special environment and can not realize continuous monitoring and positioning of different indoor and outdoor signals.
To solve the above problems, the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the system for detecting and accurately positioning continuous positions inside and outside a field based on multi-sensor fusion provided by the embodiment of the present invention specifically includes:
the switching module 1: the method is used for detecting the signals of the electric eddy current sensor, the UWB base station and the effective satellite signals, meanwhile, the detected signal value is compared with the relevant threshold value, and different navigation modules are adaptively selected for navigation.
Indoor positioning module 2: the UWB positioning system is used for indoor positioning by means of UWB positioning technology when a vehicle is indoors.
Outdoor positioning module 3: the vehicle positioning system is used for carrying out outdoor positioning by utilizing GPS positioning technology when the vehicle is outdoors.
The transition module 4: the method is used for positioning by using least square fitting of UWB and satellite positioning information when the transport vehicle is in a transition state of indoor entering outdoor or outdoor entering indoor.
Position output module 5: for outputting the current navigational positioning location.
As shown in fig. 2, the method for detecting and accurately positioning the continuous position inside and outside the field based on multi-sensor fusion provided by the embodiment of the present invention includes:
s101, performing eddy current threshold detection, and performing UWB base station number threshold detection if the eddy current signal is smaller than a set threshold; and if the electric eddy current signal is larger than the threshold value, switching the detection of the electric eddy current signal strength in the indoor navigation.
S102, judging whether the threshold value of the number of UWB base stations is larger than a set threshold value or not, and if the threshold value of the number of UWB base stations is larger than the set threshold value, carrying out UWB signal acquisition switching in indoor navigation; and if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the threshold value of the number of detected effective satellites is smaller than the set threshold value, the current estimated position is directly fitted by a least square method to be used as the positioning position to be output.
S103, if the threshold value of the number of detected effective satellites is larger than the set threshold value, outdoor navigation switching is carried out, and satellite signals are obtained; and performing Kalman filtering prediction, and directly outputting the current estimation position as a positioning position, or fitting by a least square method or directly outputting the current estimation position as the positioning position.
In the step S101, after the intensity of the eddy current signal in the indoor navigation is detected, the eddy current distance measurement result conversion and the eddy current distance measurement coordinate conversion are performed to obtain the position relationship between the eddy current sensor and the parking limit target, and the current position of the torpedo car is output.
In step S102, after obtaining the UWB signal in the indoor navigation, performing UWB positioning coordinate system conversion, performing Kalman filtering prediction, and directly outputting the current estimated position of the torpedo car as the positioning position, or fitting by a least square method or directly outputting the current estimated position of the torpedo car as the positioning position.
In the present invention, the Kalman filtering prediction method includes:
the predicted value calculation formula is as follows:
X(k|k-1)＝AX(k-1|k-1)+BU(k)；
wherein A is a state transition matrix, X (k-1| k-1) is the optimal result of the system state at the moment k-1, and X is expressed as a matrix [ p, v ] formed by the optimal position, speed and acceleration at the previous moment in the vehicle positioning application]TThe state transition matrix a is denoted as [1, Δ t; 0,1]Δ t is the sampling interval; bu (k) is approximately 0 if the vehicle is approximately in uniform motion;
the covariance predicted value at the k-1 moment corresponding to the predicted value X (k | k-1) is as follows:
P(k|k-1)＝AP(k-1|k-1)AT+Q；
wherein P (k-1| k-1) is the optimal result of the covariance at the moment of k-1, Q system process noise covariance;
the gain value at time k of the Kalman filter is:
Kg(k)＝P(k|k-1)HT/[HP(k|k-1)HT+R]；
wherein H is a system measurement matrix which is usually [1, 0 ]; r is the measurement noise covariance;
the optimal value of the system state at the moment k is as follows:
X(k|k)＝X(k|k-1)+Kg(k)[Z(k)-HX(k|k-1)]；
wherein Z (k) is a system measurement value at the time k;
the covariance corresponding to the optimal result of the system at the moment k is:
P(k|k)＝[1-Kg(k)H]P(k|k-1)。
in the present invention, as a preferred embodiment, the UWB signal location method includes a TDOA time difference of arrival location method, which obtains a fixed distance difference between a tag and different base stations by measuring a UWB signal propagation time difference from the location tag to the base stations, thereby implementing location of a moving object; distance d between measured base station A, B and location tag1、d2Then, the distance difference between the two is d21＝d2-d1According to the geometric principle, the positioning label takes two base stations as focal points and the distance difference to the two focal points is d21On the hyperbolic curve of (a), wherein di＝(ti-t0)·c，i＝1，2，3；tiTime, t, for the base station to receive the transmitted signal of the positioning tag0The time when the positioning tag transmits a signal to the base station;
the coordinates of the three base stations are (x)i，yi) And i is 1, 2, 3, and the coordinates of the positioning tag are (x, y), then:
Figure BDA0002745833490000091
Figure BDA0002745833490000092
and solving the two equations to obtain the coordinate position of the positioning label.
As a preferred embodiment, the UWB signal positioning method further includes a weight assignment method, specifically:
step 1, grouping base stations, dividing all base stations in a positioning environment into N groups through IDs, solving a combination number C (N, 3), and performing trilateral positioning on each group.
And 2, distributing the weight according to the principle that the farther the distance is, the lower the reliability is.
And 3, weighting the result obtained by each combination to obtain a final positioning result.
As a preferred embodiment, the UWB signal guiding method further includes a hybrid location technology, and location solution is performed by acquiring different location parameters by using a hybrid method of TDOA, TOA, and weight assignment.
In a preferred embodiment, when the signal intensity of the eddy current sensor is detected to be greater than a threshold value during the running process of the vehicle, the other passages are shielded, and only the eddy current position information is detected and used as the output.
When the eddy current signal is weak, firstly, the UWB base station signal is detected, and when the number of the base stations is more than 3, the UWB signal is directly adopted for navigation.
If the UWB signal is weak, whether the effective micro-credit number of the satellite navigation signal is larger than 4 is further judged, if the condition is met, GPS navigation is directly adopted, if the condition is not met, the transport vehicle is in a transition state from indoor to outdoor or from outdoor to indoor, and the current estimated position is fitted by using UWB and satellite positioning information through a least square method and is used as navigation positioning output.
Fig. 3 is a schematic diagram of a method for detecting and accurately positioning continuous positions inside and outside a field according to an embodiment of the present invention.
As shown in fig. 4 to 5, the device for detecting and accurately positioning continuous positions inside and outside a field provided by the embodiment of the present invention specifically includes:
a GPS receiver: the device is arranged at the position of the roof of the traction locomotive; for outdoor navigation.
UWB tag: the device is arranged at the position of the roof of the traction locomotive; for indoor navigation.
Positioning the eddy current sensor: installing the side surface of the traction locomotive, wherein the height of the side surface of the traction locomotive is the same as that of the parking benchmarking device on the side surface of the rail; the method is used for detecting whether the torpedo car is accurately parked in place.
UWB base station: a plurality of UWB basic stations are evenly installed in toppling over the workshop, are in the position of not sheltering from of same horizontal plane with the UWB label.
Parking target aligning plate: the parking target is arranged on the side surface of the track, and the mounting height of the parking target is the same as that of the positioning eddy current sensor arranged on the side surface of the vehicle body.
The invention is further illustrated by the following examples of specific applications.
Application example:
1) positioning technology and equipment adopted by system
(1) GPS receiver
TABLE 1 positioning technique and device parameters used by the System
Figure BDA0002745833490000111
(2) UWB device performance parameters
TABLE 2 UWB device Performance parameters
Figure BDA0002745833490000112
(3) Electric eddy current sensor
TABLE 3 Eddy current sensor Performance parameters
Figure BDA0002745833490000113
Figure BDA0002745833490000121
2) General technical scheme
The transport vehicle is running on the rails, so positioning information on the horizon is the focus of attention. From the perspective of technical research, ignoring the displacement in the vertical direction can effectively simplify the computational model. Therefore, in the technical solution, a seamless handover process between the UWB signal and the satellite positioning signal is mainly considered to be studied by using the satellite positioning area.
In order to improve the positioning precision and avoid the influence on positioning caused by external factors such as signal shielding, multiple reflection and the like, the GPS and UWB tags are both arranged at the roof position of the traction locomotive, and the positioning eddy current sensor is used for detecting whether the torpedo car is accurately parked in place, so that the positioning eddy current sensor is arranged on the side surface of the torpedo car, and the height of the positioning eddy current sensor is the same as that of a car parking alignment mark device on the side surface of a rail.
The UWB base station needs to be arranged in the dumping workshop, in order to further improve the positioning accuracy, the base station needs to be uniformly installed in the dumping workshop and at the position without shielding of the same horizontal plane with the UWB tag, and the parking target is installed on the side surface of the track, and the installation height of the parking target is the same as that of the positioning eddy current sensor installed on the side surface of the vehicle body.
The indoor and outdoor interaction area environment is complex, and the satellite positioning and UWB positioning have the process that the positioning signal is weakened until disappearing, so that the situation that the tracking positioning signal disappears can occur in the positioning process. Therefore, the invention adopts satellite positioning and UWB fusion positioning in the indoor and outdoor interactive area, and executes the switching of navigation signals when reaching a certain threshold value condition, so as to realize indoor and outdoor continuous navigation. The current vortex sensor has a small measuring range but high measuring precision relative to the former two sensors, and the measuring noise of the current vortex sensor can be almost ignored in an indoor environment, so that the current vortex sensor can be directly switched from a UWB navigation positioning signal to the current vortex signal after generating a measuring signal, and the positioning information of the current vortex sensor is directly converted into the UWB navigation positioning signal after the measuring signal disappears. As shown in fig. 3, the principle of the intra-field and extra-field continuous position detection and accurate positioning method provided by the embodiment of the invention is shown.
According to the running characteristics of the vehicle, the running position of the vehicle mainly has three states: indoor navigation, outdoor navigation, and in transition between the two. Therefore, in the operation process, the positioning accuracy of the eddy current sensor is highest and the eddy current sensor and the UWB are in the simultaneous working state, so that when the system monitors that the signal intensity of the eddy current sensor is greater than the threshold value, other paths are shielded, and only the eddy current position information is detected and is used as output; when the eddy current signal is weak, firstly, the UWB base station signal is detected, and when the number of the base stations is more than 3, the UWB signal is directly adopted for navigation; if the UWB signal is weak, whether the effective micro-credit number of the satellite navigation signal is more than 4 is further judged, if the condition is met, GPS navigation is directly adopted, if the condition is not met, the transportation vehicle is in a transition state from indoor to outdoor or from outdoor to indoor, and at the moment, the current estimated position is fitted by using UWB and satellite positioning information through a least square method and is used as navigation positioning output.
The thermal power time of a GPS module adopted by the device is about 1S, and the cold start time is about 30S; the start-up time of the UWB module is about 3S, so the device will switch to the indoor navigation mode in a short time when entering indoors from outdoors. When the GPS is located indoors or outdoors, according to the stop time of the GPS, if the last stop time is not more than four hours, the search starting speed is very high, and accurate positioning can be completed within seconds; if the time is long before the last shutdown, a long search process is needed, and the motion track is fitted by a least square method mainly through matching of a UWB Kalman prediction result with GPS inaccurate positioning information within about 30S.
3) And the key technology is as follows:
3.1) Kalman Filter noise reduction
Because UWB and satellite positioning signals have obvious white noise, the UWB and satellite positioning signals have obvious influence on positioning accuracy and real-time positioning visual effect. In order to solve the problem, a Kalman filtering technology is adopted to process the received UWB and satellite signals so as to reduce the noise of an output signal.
The five core formulas of Kalman filtering are as follows:
X(k|k-1)＝AX(k-1|k-1)+BU(k) (1)
wherein A is a state transition matrix, X (k-1| k-1) is the optimal result of the system state at the moment k-1, and X can be expressed as a matrix [ p, v ] formed by the optimal position, speed and acceleration at the previous moment in the vehicle positioning application]TThe state transition matrix a is denoted as [1, Δ t; 0,1]And Δ t is the sampling interval. Bu (k) may be approximately 0 if the vehicle is approximately in constant motion.
The covariance predicted value at the k-1 moment corresponding to the predicted value X (k | k-1) is as follows:
P(k|k-1)＝AP(k-1|k-1)AT+Q (2)
wherein P (k-1| k-1) is the optimal result of the covariance at time k-1, Q system process noise covariance.
The gain value at time k of the Kalman filter is:
Kg(k)＝P(k|k-1)HT/[HP(k|k-1)HT+R] (3)
wherein H is a system measurement matrix which is usually [1, 0 ]; r is the measurement noise covariance.
The optimal value of the system state at the moment k is as follows:
X(k|k)＝X(k|k-1)+Kg(k)[Z(k)-HX(k|k-1)] (4)
wherein Z (k) is a system measurement value at time k.
The covariance corresponding to the optimal result of the system at the moment k is:
P(k|k)＝[1-Kg(k)H]P(k|k-1) (5)
formula (5): and calculating the covariance corresponding to the optimal result of the system at the moment k.
Taking UWB as an example, UWB tag modules have the capability to measure position, velocity, and acceleration. If the transport vehicle is approximately a constant motion object, the Kalman calculation process can be greatly simplified, and the bu (k) term can be approximately 0. After Kalman filtering, the movement track of the UWB in the directions of the x axis and the y axis of the coordinate horizontal plane is compared with the measurement track. As can be seen from the filtering result, the Kalman filtering has obvious filtering effect on the UWB positioning signal, the time delay is small, the real-time performance is relatively good, the calculation amount requirement of the method is extremely low, Gaussian noise and non-Gaussian noise in the signal can be effectively removed, and the pulse interference signal basically has no influence on the estimation effect.
3.2) Algorithm optimization of UWB positioning
(1) TDOA location algorithm
TDOA (Time Difference of Arrival, TDOA) also called TDOA (Time Difference of Arrival) has an advantage of eliminating measurement errors caused by clock synchronization, and the positioning principle is to obtain a fixed distance Difference between a tag and a different base station by measuring the UWB signal propagation Time Difference from the positioning tag to the base station, so as to realize the positioning of a moving object. Distance d between measured base station A, B and location tag1、d2Then, the distance difference between the two is known as d21＝d2-d1The positioning label is necessarily focused on two base stations and has a distance difference d between the two focuses according to geometric principles21On the hyperbolic curve of (a), wherein di＝(ti-t0)·c，i＝1，2，3；tiTime, t, for the base station to receive the transmitted signal of the positioning tag0To locate the time at which the tag transmits a signal to the base station.
Let the coordinates of the three base stations be (x)i，yi) And i is 1, 2, 3, and the coordinates of the positioning tag are (x, y), then:
Figure BDA0002745833490000151
Figure BDA0002745833490000152
and solving the two equations to obtain the coordinate position of the positioning label.
TDOA has higher positioning accuracy than TOA, but the method has higher requirements on hardware equipment, and the positioning accuracy is reduced in a non-line-of-sight environment.
(2) Algorithm improvement and mixing algorithm
The positioning algorithm can adopt a weight value distribution mode, the reliability of the distance is high, the weight value is distributed in a larger mode, the reliability of the distance is low, and the weight value is distributed in a smaller mode.
Base stations are grouped well before positioning. Dividing all base stations in a positioning environment into N groups through IDs, solving a combination number C (N, 3), and performing trilateral positioning on each group; then, according to the principle that the distance is farther, the reliability is lower, the weight (the measured distance from each base station to the positioning label) is distributed. And finally, weighting the result obtained by each combination to obtain a final positioning result. The improved algorithm is suitable for an environment with high requirement on positioning accuracy or a place with dense UWB base station signal coverage, but generally, UWB positioning base stations are mostly uniformly distributed according to respective coverage areas, the coverage area of the UWB base stations is limited, and the situation that a plurality of UWB base station signals are covered in a certain area is less likely to occur. Without considering the limitation of economic factors, theoretically, by adopting a mode of arranging a plurality of positioning base stations, the improved positioning algorithm can be utilized to obtain high positioning accuracy.
The central idea of the hybrid positioning technology is to integrate the advantages of each algorithm together, make up for the deficiencies of each algorithm, and achieve higher positioning accuracy and stronger anti-interference capability through mutual assistance, reference or other means. The implementation mode is to mix the two or three positioning technologies and obtain different positioning parameters to perform positioning calculation.
Because UWB technology uses nanosecond pulses to transmit signals, and therefore has high time resolution, both TOA and TDOA methods for obtaining location results based on measuring transmission time data have higher accuracy than other algorithms. And TOA/TDOA can combine the advantages of both, so that in view of the current UWB positioning technology, the most feasible and effective solution is to adopt a hybrid positioning algorithm of TOA and TDOA to realize a higher-precision positioning result. The hybrid algorithm has the advantages of strong multipath effect resistance, high positioning precision, stable real-time positioning and the like, and is suitable for being applied to the steel plant environment.
(3) UWB base station testing
In the outdoor experiment, the UWB base station (Anchor) and Tag (Tag) were mounted and arranged as shown in fig. 6. The antenna directions of the base station and the label are the same, the base stations are controlled on the same horizontal plane, and the base station is configured in a 3+1 redundancy mode to further improve the positioning accuracy.
Under a static condition, if the base stations are distributed into rectangles of 10 multiplied by 10m and the frequency of label sampling is set to be 50Hz, the maximum fluctuation range of the measured value of the system in the arrangement plane is about 2cm by adopting the configuration scheme, and the positioning accuracy in the vertical direction is relatively low. But because the system only requires the positioning precision in the plane, the measurement precision in the horizontal plane can be basically met by checking the measurement precision.
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. A method for detecting and accurately positioning indoor and outdoor continuous positions of a torpedo tank car based on multi-sensor fusion is characterized by comprising the following steps:
step one, performing threshold detection on an eddy current, and performing threshold detection on the number of UWB base stations if the eddy current signal is smaller than a set threshold;
if the eddy current signal is larger than the threshold value, switching the detection of the strength of the eddy current signal in indoor navigation;
judging whether the threshold value of the number of UWB base stations is larger than a set threshold value or not, and if the threshold value of the number of UWB base stations is larger than the set threshold value, carrying out UWB signal acquisition switching in indoor navigation;
if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the threshold value of the number of detected effective satellites is smaller than the set threshold value, the current estimated position is directly fitted through a least square method to be used as the positioning position to be output;
if the threshold value of the number of detected effective satellites is larger than the set threshold value, outdoor navigation switching is carried out, and satellite signals are obtained; and performing Kalman filtering prediction, and directly outputting the current estimation position as a positioning position, or fitting by a least square method or directly outputting the current estimation position as the positioning position.
2. The method for detecting and accurately positioning the indoor and outdoor continuous positions of the torpedo car based on the fusion of the multiple sensors as claimed in claim 1, wherein in the step one, after the strength of the eddy current signal in the indoor navigation is detected, the conversion of the eddy current distance measurement result and the conversion of the eddy current distance measurement coordinate are carried out, so that the position relationship between the eddy current sensor and the parking limit target is obtained, and the current position of the torpedo car is output.
3. The method for detecting and accurately positioning indoor and outdoor continuous positions of a torpedo car based on multi-sensor fusion as claimed in claim 1, wherein in the second step, after UWB signals in indoor navigation are acquired, UWB positioning coordinate system conversion is performed, Kalman filtering processing is performed, and the current estimated position of the torpedo car is directly output as the positioning position, or least square fitting is performed or the current estimated position of the torpedo car is directly output as the positioning position.
4. The method for detecting and accurately positioning the indoor and outdoor continuous positions of the torpedo car based on the multi-sensor fusion as claimed in any one of claims 1 and 3, wherein the Kalman filtering processing method comprises the following steps:
the predicted value calculation formula is as follows:
X(k|k-1)＝AX(k-1|k-1)+BU(k)；
wherein A is a state transition matrix, X (k-1| k-1) is the optimal result of the system state at the moment k-1, and X is expressed as a matrix [ p, v ] formed by the optimal position, speed and acceleration at the previous moment in the vehicle positioning application]TThe state transition matrix a is denoted as [1, Δ t; 0,1]Δ t is the sampling interval; bu (k) is approximately 0 if the vehicle is approximately in uniform motion;
the covariance predicted value at the k-1 moment corresponding to the predicted value X (k | k-1) is as follows:
P(k|k-1)＝AP(k-1|k-1)AT+Q；
wherein P (k-1| k-1) is the optimal result of the covariance at the moment of k-1, Q system process noise covariance;
the gain value at time k of the Kalman filter is:
Kg(k)＝P(k|k-1)HT/[HP(k|k-1)HT+R]；
wherein H is a system measurement matrix which is usually [1, 0 ]; r is the measurement noise covariance;
the optimal value of the system state at the moment k is as follows:
X(k|k)＝X(k|k-1)+Kg(k)[Z(k)-HX(k|k-1)]；
wherein Z (k) is a system measurement value at the time k;
the covariance corresponding to the optimal result of the system at the moment k is:
P(k|k)＝[1-Kg(k)H]P(k|k-1)。
5. the method for continuous position detection and precise positioning inside and outside the field based on multi-sensor fusion as claimed in claim 3, wherein the method for UWB positioning coordinate system conversion adopts TDOA time difference of arrival positioning method, and realizes the positioning of the mobile object by measuring the UWB signal propagation time difference from the positioning tag to the base station to obtain the fixed distance difference between the tag and different base stations; distance d between measured base station A, B and location tag1、d2Then, the distance difference between the two is d21＝d2-d1According to the geometric principle, the positioning label takes two base stations as the focus and reaches twoThe difference in distance of the focal points is d21On the hyperbolic curve of (a), wherein di＝(ti-t0)·c，i＝1，2，3；tiTime, t, for the base station to receive the transmitted signal of the positioning tag0The time when the positioning tag transmits a signal to the base station;
the coordinates of the three base stations are (x)i，yi) And i is 1, 2, 3, and the coordinates of the positioning tag are (x, y), then:
Figure FDA0002745833480000031
Figure FDA0002745833480000032
and solving the two equations to obtain the coordinate position of the positioning label.
6. The multi-sensor fusion-based intra-and-extra-field continuous position detection and accurate positioning method according to claim 3, wherein the UWB positioning coordinate system transformation method or the weight assignment method is specifically comprised of:
step 1, grouping base stations, dividing all base stations in a positioning environment into N groups through IDs, solving a combination number C (N, 3), and respectively carrying out trilateral positioning on each group;
step 2, distributing weight values according to the principle that the farther the distance is, the lower the reliability is;
step 3, weighting the result obtained by each combination to obtain a final positioning result;
the UWB positioning coordinate system conversion method or the hybrid positioning technology is adopted, and the positioning calculation is carried out by acquiring different positioning parameters by using a mixed mode of TDOA, TOA and weight distribution.
7. The multi-sensor fusion-based intra-and-extra-field continuous position detection and accurate positioning method according to claim 1, characterized in that in the first step, when the signal intensity of the eddy current sensor is monitored to be greater than a threshold value during the running process of the vehicle, other paths are shielded to only detect the eddy current position information and serve as output;
in the second step, if the threshold value of the number of UWB base stations is greater than the set threshold value 3, the UWB signal in the indoor navigation is obtained and switched;
and if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the detected effective satellite number threshold value is smaller than the set threshold value 4, the current estimated position is directly fitted by a least square method to be used as the positioning position to be output.
8. A multi-sensor fusion-based intra-and-extra-field continuous position detecting and precise positioning system, which is characterized in that the multi-sensor fusion-based intra-and-extra-field continuous position detecting and precise positioning system comprises:
a switching module: the system is used for detecting an eddy current signal, a UWB base station signal and an effective satellite signal, comparing the detected signal value with the relevant threshold value, and adaptively selecting different navigation modules for navigation;
indoor positioning module: the UWB positioning system is used for carrying out indoor positioning by utilizing UWB positioning technology when a vehicle is indoors;
an outdoor positioning module: the system is used for carrying out outdoor positioning by utilizing a GPS positioning technology when the vehicle is outdoors;
a transition module: the positioning method comprises the following steps of positioning by utilizing least square fitting of UWB and satellite positioning information when a transport vehicle is in a transition state of indoor value outdoor or indoor outdoor value;
a position output module: for outputting the current navigational positioning location.
9. An intra-and-extra-field continuous position detecting and precise positioning device based on multi-sensor fusion is characterized by comprising:
a GPS receiver: the device is arranged at the position of the roof of the traction locomotive; for outdoor navigation;
UWB tag: the device is arranged at the position of the roof of the traction locomotive; used for indoor navigation;
positioning the eddy current sensor: installing the side surface of the traction locomotive, wherein the height of the side surface of the traction locomotive is the same as that of the parking benchmarking device on the side surface of the rail; the system is used for detecting whether the torpedo car is accurately parked in place;
UWB base station: the UWB base stations are uniformly installed in the dumping workshop and are located at the position without shielding on the same horizontal plane with the UWB tag;
parking target aligning plate: the parking target is arranged on the side surface of the track, and the mounting height of the parking target is the same as that of the positioning eddy current sensor arranged on the side surface of the vehicle body.
10. A program storage medium for receiving user input, the stored computer program causing an electronic device to perform the multi-sensor fusion based intra-and-extra-field continuous position detection and accurate positioning according to any one of claims 1 to 7, comprising the steps of:
performing threshold detection of the eddy current, and performing threshold detection of the number of UWB base stations if the eddy current signal is smaller than a set threshold;
if the eddy current signal is larger than the threshold value, switching the detection of the strength of the eddy current signal in indoor navigation;
judging whether the threshold value of the number of UWB base stations is larger than a set threshold value or not, and if the threshold value of the number of UWB base stations is larger than the set threshold value, carrying out UWB signal acquisition switching in indoor navigation;
if the threshold value of the number of UWB base stations is smaller than the set threshold value, effective satellite number threshold value detection is carried out, and if the threshold value of the number of detected effective satellites is smaller than the set threshold value, the current estimated position is directly fitted through a least square method to be used as the positioning position to be output;
if the threshold value of the number of detected effective satellites is larger than the set threshold value, outdoor navigation switching is carried out, and satellite signals are obtained; and performing Kalman filtering prediction, and directly outputting the current estimation position as a positioning position, or fitting by a least square method or directly outputting the current estimation position as the positioning position.
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