CN112327247B - Positioning device and positioning system of flat-plate transport vehicle - Google Patents
Positioning device and positioning system of flat-plate transport vehicle Download PDFInfo
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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
- 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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- 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
- 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
- G01S5/0205—Details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- Mobile Radio Communication Systems (AREA)
Abstract
The application relates to a positioning device and a positioning system of a flat transport vehicle, wherein the positioning device comprises: the device comprises a power supply module, a control module, a communication module and a first positioning module; the communication module is used for communicating with an external base station and a server; the first positioning module is used for calculating the distance between the current flat transport vehicle position and at least two base stations according to the received base station signals; the communication module is further used for uploading the calculated distance between the current flat-bed transport vehicle position and at least two base stations to the server through the base stations, so that the server calculates the current position of the flat-bed transport vehicle according to the coordinate positions of the at least two base stations and the distance between the current flat-bed transport vehicle position and the at least two base stations. The positioning device and the positioning system of the flat-plate transport vehicle can realize accurate positioning of the flat-plate transport vehicle.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning device and a positioning system of a flat-plate transport vehicle.
Background
In the subway construction process, the rail laying operation is an indispensable stage. At this stage, because the underground tunnel is completely penetrated, the length span of the constructor rail laying operation area is relatively large, and therefore, the flat-bed transport vehicle is required to temporarily transport materials so as to save manpower and time points. However, due to the fact that constructors organize departments and the like at the construction site are intricate, the environment at the construction site is not ideal and the like, finding a flat transport vehicle at several kilometers or even tens kilometers is difficult, and time and effort are wasted. Therefore, there is a need for a positioning device and a positioning system that can accurately position a flatbed transport vehicle.
Disclosure of Invention
Based on this, it is necessary to provide a positioning device and a positioning system of a flat-bed transport vehicle, which can accurately position the flat-bed transport vehicle, thereby facilitating management of the flat-bed transport vehicle.
The embodiment of the invention provides a positioning device of a flat transport vehicle, which comprises: a positioning device for a flatbed transport vehicle, the positioning device comprising: the device comprises a power supply module, a control module and a first positioning module;
the power supply module is used for supplying power to the positioning device;
the communication module is used for communicating with an external base station;
the first positioning module is used for calculating a first distance between the current flat transport vehicle position and at least two base stations according to the received base station signals;
The communication module is further used for uploading the calculated first distance between the current flat-bed transport vehicle position and at least two base stations to the server through the base stations, so that the server calculates the current position of the flat-bed transport vehicle according to the coordinate positions of the at least two base stations and the first distance between the current flat-bed transport vehicle position and the at least two base stations;
the control module is respectively connected with the communication module and the first positioning module and is used for controlling the communication module to communicate with an external base station and controlling the first positioning module to perform positioning calculation.
The embodiment of the invention provides a positioning system of a flat transport vehicle, which comprises the following components: at least two base stations, a positioning device and a server which are loaded on the flat transport vehicle;
The at least two base stations are used for sending signals to the positioning device;
The positioning device is used for calculating the distance between the current self position and the at least two base stations according to the received signals, and uploading the calculated distance between the positioning device and the at least two base stations to the server through the base stations;
The server is used for acquiring the coordinate positions of the at least two base stations, and calculating the current position of the flat-bed transport vehicle according to the distance between the positioning device and the at least two base stations and the coordinate positions of the at least two base stations.
According to the positioning device and the positioning system of the flat-bed transport vehicle, the positioning device is arranged on the flat-bed transport vehicle, then the positioning device calculates the distance between the current self position and at least two base stations according to the received signals sent by the base stations, the calculated distance between the positioning device and the at least two base stations is uploaded to the server through the base stations, and then the server calculates the current position of the flat-bed transport vehicle according to the coordinate positions of the at least two base stations and the distance between the positioning device and the at least two base stations. The positioning device and the positioning system of the flat-plate transport vehicle can realize accurate positioning of the flat-plate transport vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an internal block diagram of a positioning device of a flatbed transport vehicle in one embodiment;
FIG. 2 is a schematic diagram of a positioning device interacting with a base station in one embodiment;
FIG. 3 is a block diagram of a positioning system of a flatbed transport vehicle in one embodiment;
FIG. 4 is a flow chart of a method of locating a flatbed transport vehicle in one embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, there is provided a positioning device of a flat-bed transport vehicle, the positioning device being loaded on the flat-bed transport vehicle, the positioning device 10 comprising: a power module 102, a control module 104, a communication module 106, and a first positioning module 108;
The power module 102 is configured to supply power to the positioning device.
The communication module 106 is configured to communicate with an external base station.
The first positioning module 108 is configured to calculate a first distance between a current flatbed carrier vehicle position and at least two base stations according to the received base station signals.
The communication module 106 is further configured to upload the calculated first distance between the current flat-bed transport vehicle position and the at least two base stations to the server via the base stations, so that the server calculates the current position of the flat-bed transport vehicle according to the coordinate positions of the at least two base stations and the first distance between the current flat-bed transport vehicle position and the at least two base stations.
The control module 104 is respectively connected with the communication module 106 and the first positioning module 108, and is configured to control the communication module 106 to communicate with an external base station, and control the first positioning module 108 to perform positioning calculation.
Wherein the power module 102 is used to power other modules in the positioning device. The communication module 106 is configured to communicate with the outside using wireless technology, including communication with an external base station. In one embodiment, a communication module includes: the 2.4G antenna unit uses the 2.4G frequency band to communicate with the outside. The first positioning module is used for calculating a first distance between the current flat-bed transport vehicle and at least two base stations according to the received base station signals. In one embodiment, the first positioning module is a UWB ranging module for measuring a distance to the base station. In another embodiment, the communication module further comprises a UWB antenna unit for receiving or transmitting signals through the UWB antenna.
Referring to fig. 1, in one embodiment, the positioning device 10 further includes: a second positioning module 109, where the second positioning module 109 is configured to calculate a second distance from the current flatbed transporter to the base station according to the received signal strength of the base station; the communication module is further configured to upload the second distance to the server via a base station, such that the server determines a target distance between the positioning device and the base station based on the first distance and the second distance.
The second positioning module is a 2.4G module and is used for calculating a second distance between the current flat-bed transport vehicle and the base station according to the received signal strength of the base station. The communication module 106 includes: the 2.4G antenna unit and the UWB antenna unit, the 2.4G antenna unit is connected with the second positioning module, the UWB antenna unit is connected with the first positioning module, namely the second positioning module communicates with an external base station through the 2.4G antenna unit, and the first positioning module communicates with the external base station through the UWB antenna unit.
Referring to fig. 1, in one embodiment, the positioning device further includes: the audio module 110 is connected with the communication module 106, and is used for storing audio information and playing the audio information through the loudspeaker 112. In one embodiment, the notification audio module 110 emits an alarm signal when it detects that the flatbed is too close to other positioning devices. The audio module 110 is further configured to play the voice according to the broadcast instruction when the broadcast instruction sent by the server is received via the base station.
In one embodiment, the first positioning module is further configured to send a first signal to the base station, receive a first response signal returned by the base station, send a second signal to the base station, receive a second response signal returned by the base station, where the second response signal carries a first time point when the base station receives the first signal, return a second time point of the first response signal, and a third time point when the second signal is received; the first positioning module is further configured to obtain a fourth time point when the first signal is transmitted, a fifth time point when the first response signal is received, and a sixth time point when the second signal is transmitted, and calculate a first distance between the positioning device and the base station based on the first time point, the second time point, the third time point, the fourth time point, the fifth time point, and the sixth time point.
In one embodiment, the second positioning module is further configured to receive, through the communication module, broadcast information that is sent by the base station at regular time, calculate signal strength according to the received broadcast information, and calculate a second distance from the base station according to the signal strength; the control module is further configured to determine a target distance between the positioning device and the base station based on the first distance and the second distance.
In one embodiment, the first positioning module is further configured to receive information broadcast by other positioning devices, where the broadcast information carries distances from the other positioning devices to the base station; the second positioning module is also used for judging the position relation between the positioning device and other positioning devices according to the received signal intensity of the other positioning devices; the control module is also used for determining the distance between the control module and other positioning devices according to the distance between the other positioning devices and the base station, the distance between the control module and the base station and the position relation between the control module and the other positioning devices.
In one embodiment, the control module 104 is connected to the power module 102, and is configured to obtain power information of the power module, and play a corresponding voice prompt through the audio module when the power is insufficient.
As shown in fig. 2, in one embodiment, a positioning system for a flatbed transport vehicle is provided, the system comprising: at least two base stations 20, a positioning device 10 and a server 30 loaded on the flatbed carrier;
the at least two base stations 20 are configured to transmit signals to the positioning device;
the positioning device 10 is configured to calculate a distance between a current self-position and the at least two base stations according to the received signal, and upload the calculated distance between the current self-position and the at least two base stations to the server via the base stations;
the server 30 is configured to obtain the coordinate positions of the at least two base stations, and calculate the current position of the flatbed transporter according to the distance between the positioning device and the at least two base stations and the coordinate positions of the at least two base stations.
Wherein, include in the positioner: the device comprises a communication module, a first positioning module, a control module and a power supply module. The positioning device is arranged on the flat-bed transport vehicle and used for positioning the flat-bed transport vehicle, namely the position of the positioning device is the position of the flat-bed transport vehicle.
As shown in fig. 3, in an embodiment, the base station 20 is further configured to receive a first signal sent by the positioning device, return a first response signal to the positioning device 10 based on the first signal, receive a second signal sent by the positioning device 10, return a second response signal to the positioning device 10 based on the second signal, where the second response signal carries a first time point when the first signal is received, a second time point when the first response signal is returned, and a third time point when the second signal is received;
The positioning device 10 is further configured to obtain a fourth time point when the first signal is transmitted, a fifth time point when the first response signal is received, and a sixth time point when the second signal is transmitted, and calculate a first distance between the positioning device 10 and the base station 20 based on the first time point, the second time point, the third time point, the fourth time point, the fifth time point, and the sixth time point.
Wherein, in order to improve the accuracy of the ranging of the positioning device, the distance between the two is calculated based on the signal transmission and reception time difference. First, the positioning device 10 sends a first signal to the base station 20, the base station 20 returns a first response signal after receiving the signal, the positioning device 10 sends a second signal to the base station 20 after receiving the first response signal, then receives the second response signal returned by the base station 20, wherein the second response signal carries a first time point when the first signal is received, a second time point when the first response signal is returned, a third time point when the second signal is received, and then obtains a fourth time point when the positioning device itself sends the first signal, a fifth time point when the first response signal is received and a sixth time point when the second signal is sent. The following ranging calculation formula is adopted: tround =fifth time point-fourth time point; treply =second time point-first time point; tround2 = third time point-second time point; treply2 = sixth time point-fifth time point; the time of transmission T is then calculated by the following formula:
t= [ (tround 1 x tround 2) - (treply 1 x treply 2) ]/(tround 1+ tround2+ treply1+ treply 2). And further, according to the signal transmission speed V, calculating to obtain a first distance=t×v between the positioning device and the base station.
In one embodiment, the base station is further configured to broadcast information to the positioning device at regular time; the positioning device is also used for receiving the broadcast information of the base station, calculating signal strength according to the received broadcast information, and calculating a second distance between the positioning device and the base station according to the signal strength; the positioning device is further configured to determine a target distance between the positioning device and the base station based on the first distance and the second distance.
In order to improve the accuracy of the distance between the positioning device and the base station, a second distance between the positioning device and the base station is calculated through signal intensity, and then the first distance and the second distance are combined to obtain the target distance between the positioning device and the base station. Specifically, the base station broadcasts its own information to nearby devices at regular time, and the nearby devices estimate the signal strength according to the received base station signals, and further estimate the distance from the base station according to the relationship between the signal strength and the distance. D= (RSS-se:Sup>A-EAF)/10×n, where RSS represents the signal strength; EAF represents a random variable; n represents a signal propagation constant, also called propagation index; d represents the distance from the transmitting end; a represents the absolute value of the received signal strength at a distance of 1 meter.
In one embodiment, the server is further configured to perform filtering processing on the received distance data between the positioning device and the at least two base stations, filter out abnormal data, and perform track smoothing processing based on the filtered data to obtain the current position of the flat-panel transport vehicle.
Among them, the tunnel environment is much disturbed, such as signal shielding, refraction, interference between wireless signals, etc., which may cause inaccuracy of the measured distance, so many disturbance data need to be filtered. The data uploaded to the server has interference data, so before calculation, the received distance data needs to be filtered to filter abnormal data. In practical applications, the position data acquired by us is not a continuous coordinate point, and if the interference data is filtered, the coordinate point is more discontinuous, which causes abrupt movement and jump movement of the flatbed on the interface, which is obviously not practical, so that the track needs to be smoothed to obtain the current position of the flatbed.
In one embodiment, the server is further configured to obtain a historical running track of the flat transporter, predict a current running track according to the historical running track, and filter out the distance data if the uploaded distance data of the server does not conform to the predicted current running track.
The specific filtering mode may be to obtain the historical running track of the flat transport vehicle, predict the current running track according to the historical running track, and filter the distance data if the distance data uploaded to the server is obviously inconsistent with the predicted result.
In one embodiment, the positioning system of the flatbed transport vehicle further comprises: other positioning devices, which are devices loaded on other flat-bed or other rail transport vehicles; the positioning device is also used for receiving information broadcast by other positioning devices, and the broadcast information carries the distances from the other positioning devices to the base station; the positioning device is also used for determining the distance between the positioning device and other positioning devices according to the distance between the other positioning devices and the base station, the distance between the positioning device and the base station and the received signal strength of the other positioning devices.
In order to avoid collision between the flat-bed transport vehicle and other flat-bed transport vehicles or other rail transport vehicles, the distance between the flat-bed transport vehicle and other flat-bed transport vehicles or other rail transport vehicles needs to be detected, and when the distance is too small, early warning is sent out in advance. The positioning devices loaded on the flat-bed transport vehicle can communicate with each other, the positioning devices receive broadcast information of other positioning devices, the distance from the other positioning devices to a certain base station is known according to the broadcast information, and then the distance between the positioning devices and the other positioning devices is determined according to the distance from the positioning devices to the base station and the received signal strength of the other positioning devices.
Because the flat-bed transport vehicle and other rail-mounted vehicles are all running on the rail, the flat-bed transport vehicle and other rail-mounted vehicles can be regarded as moving on the same straight line, two situations can occur, one is that the flat-bed transport vehicle and other flat-bed transport vehicles are on two sides of the base station, the other is that the flat-bed transport vehicle and other flat-bed transport vehicles are on the same side of the base station, then the same side or two sides can be determined according to the signal intensity, and then the distance between the two can be determined.
For example, there are two transport vehicles a and B, one base station S, a knows the distance a to S by ranging and B knows the distance B to S. A reports the distance from B to S, and B can acquire the signal intensity of A transmission, so that B knows the distance from A to S, the distance from B to S and the signal intensity from A to B. It can be deduced from the signal strengths of a to B whether a and B are on the same side or on both sides, and the distance between a and B can be calculated from the distance of a to S and the distance of B to S.
In one embodiment, the positioning device is further configured to determine that the positioning device and the other positioning device are on the same side of the base station when the received signal strength of the other positioning device is greater than the preset signal strength, and take the absolute value of the difference between the distance from the positioning device to the base station and the distance from the other positioning device to the base station as the distance between the two positioning devices.
When the signal intensity of the received other positioning devices is larger than the preset signal intensity, the distance between the two positioning devices is relatively close, and the two positioning devices are judged to be on the same side, so that the difference between the two positioning devices and the base station can be used as the distance between the two positioning devices. When the signal intensity of the other positioning devices is smaller than the preset signal intensity, the distance between the two positioning devices is far, and the two positioning devices are judged to be on two sides, so that the sum of the distances between the two positioning devices and the base station can be used as the distance between the two positioning devices.
In one embodiment, the positioning device is further configured to send an alarm signal when its distance from the other positioning device is smaller than a preset distance.
In order to avoid collision between the flat-bed transport vehicles and other rail transport vehicles, when the distance between the flat-bed transport vehicles and other positioning devices is detected to be smaller than a preset distance (for example, 5 meters), an alarm signal is sent out for reminding.
In one embodiment, the positioning device is further configured to receive information sent by the server, and play the broadcast information when the information is the broadcast information.
The positioning device comprises an audio module and a loudspeaker, and when broadcasting information is received, voice playing is carried out through the audio module and the loudspeaker. Such as the playing of security matters, etc.
As shown in fig. 4, in one embodiment, a method for positioning a flat transporter is provided, where the method is applied to a positioning system of the flat transporter, and the system includes: at least two base stations, a server and a positioning device loaded on the flat transport vehicle;
the method comprises the following steps:
Step 402, at least two base stations send signals to a positioning device;
Step 404, the positioning device calculates the distance between the current self position and at least two base stations according to the received signals, and uploads the calculated distance between the positioning device and at least two base stations to a server through the base stations;
In step 406, the server obtains the coordinate positions of at least two base stations, and calculates the current position of the flat-bed transport vehicle according to the distance between the positioning device and the at least two base stations and the coordinate positions of the at least two base stations.
In one embodiment, the at least two base stations transmit signals to the positioning device, comprising:
The base station receives a first signal sent by the positioning device, returns a first response signal to the positioning device based on the first signal, receives a second signal sent by the positioning device, and returns a second response signal to the positioning device based on the second signal, wherein the second response signal carries a first time point when the first signal is received, a second time point when the first response signal is returned, a third time point when the second signal is received and a fourth time point when the second response signal is returned;
The positioning device calculates the distance between the current self position and the at least two base stations according to the received signals, and uploads the calculated distance between the positioning device and the at least two base stations to the server, and the positioning device comprises:
The positioning device acquires a fifth time point when the first signal is transmitted, a sixth time point when the first response signal is received, a seventh time point when the second signal is transmitted and an eighth time point when the second response signal is received, and calculates a first distance between the positioning device and the base station based on the first time point, the second time point, the third time point, the fourth time point, the fifth time point, the sixth time point, the seventh time point and the eighth time point.
In one embodiment, the positioning method of the flat transporter further includes:
The base station broadcasts information to the positioning device at regular time;
The positioning device receives the broadcast information of the base station, calculates signal strength according to the received broadcast information, and calculates a second distance between the positioning device and the base station according to the signal strength;
The positioning device determines a target distance between the positioning device and the base station based on the first distance and the second distance.
In one embodiment, the obtaining, by the server, the coordinate positions of the at least two base stations, and calculating the current position of the flatbed transporter according to the distance between the positioning device and the at least two base stations and the coordinate positions of the at least two base stations includes: and the server filters the received distance data between the positioning device and the at least two base stations, filters abnormal data, and performs track smoothing processing based on the filtered data to obtain the current position of the flat transport vehicle.
In one embodiment, the server performs filtering processing on the received distance data between the positioning device and the at least two base stations, filters abnormal data, performs track smoothing processing based on the filtered data to obtain the current position of the flat-panel transport vehicle, and includes: the server is further used for obtaining the historical running track of the flat transport vehicle, predicting the current running track according to the historical running track, and filtering the distance data if the uploaded distance data of the server do not accord with the predicted current running track.
In one embodiment, the system further comprises: other positioning devices, which are devices loaded on other flat-bed or other rail transport vehicles; the method further comprises the steps of: the positioning device receives information broadcast by other positioning devices, wherein the broadcast information carries the distances from the other positioning devices to the base station; and the positioning device determines the distance between the positioning device and the other positioning device according to the distance between the other positioning device and the base station, the distance between the positioning device and the base station and the received signal strength of the other positioning device.
In one embodiment, the determining, by the positioning device, the distance between the positioning device and the other positioning device according to the distance between the other positioning device and the base station, the distance between the positioning device and the base station, and the received signal strength of the other positioning device includes: and when the received signal intensity of the other positioning devices is larger than the preset signal intensity, the positioning devices are judged to be on the same side of the base station with the other positioning devices, and the absolute value of the difference value between the distance from the positioning device to the base station and the distance from the other positioning devices to the base station is used as the distance between the two positioning devices.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (7)
1. A positioning device for a flatbed transport vehicle, the positioning device comprising: the device comprises a power supply module, a control module and a first positioning module;
the power supply module is used for supplying power to the positioning device;
the communication module is used for communicating with an external base station;
the first positioning module is used for calculating a first distance between the current flat transport vehicle position and at least two base stations according to the received base station signals;
the communication module is further used for uploading the calculated first distance between the current flat-bed transport vehicle position and at least two base stations to a server through the base stations, so that the server calculates the current position of the flat-bed transport vehicle according to the coordinate positions of the at least two base stations and the first distance between the current flat-bed transport vehicle position and the at least two base stations;
The control module is respectively connected with the communication module and the first positioning module and is used for controlling the communication module to communicate with the base station and controlling the first positioning module to perform positioning calculation;
The positioning device further includes: the second positioning module is used for calculating a second distance from the current flat-bed transport vehicle to the base station according to the received signal strength of the base station;
The communication module is further configured to upload the second distance to the server via the base station, such that the server determines a target distance between the positioning device and the base station based on the first distance and the second distance;
The first positioning module is further configured to send a first signal to the base station, receive a first response signal returned by the base station, send a second signal to the base station, receive a second response signal returned by the base station, where the second response signal carries a first time point when the base station receives the first signal, and return a second time point of the first response signal and a third time point when the second signal is received;
The first positioning module is further configured to obtain a fourth time point when the first signal is transmitted, a fifth time point when the first response signal is received, and a sixth time point when the second signal is transmitted, and calculate a first distance between the positioning device and the base station based on the first time point, the second time point, the third time point, the fourth time point, the fifth time point, and the sixth time point.
2. The positioning device of claim 1, wherein the positioning device further comprises: the audio module is connected with the communication module and used for storing audio information and playing the audio information through the loudspeaker.
3. The positioning device of claim 1, wherein the second positioning module is further configured to receive, via the communication module, broadcast information sent by the base station at regular intervals, calculate signal strength according to the received broadcast information, and calculate a second distance from the base station according to the signal strength;
The control module is further configured to determine a target distance between the positioning device and the base station based on the first distance and the second distance.
4. The positioning device of claim 1, wherein the first positioning module is further configured to receive information broadcast by other positioning devices, where the broadcast information carries distances from the other positioning devices to the base station;
The second positioning module is also used for judging the position relation between the positioning device and other positioning devices according to the received signal intensity of the other positioning devices;
The control module is also used for determining the distance between the control module and other positioning devices according to the distance between the other positioning devices and the base station, the distance between the control module and the base station and the position relation between the control module and the other positioning devices.
5. A positioning system for a flatbed transport vehicle, the system comprising: at least two base stations, a server and a positioning device loaded on the flat transport vehicle;
The at least two base stations are used for sending signals to the positioning device;
The positioning device is used for calculating the distance between the current self position and the at least two base stations according to the received signals, and uploading the calculated distance between the positioning device and the at least two base stations to the server through the base stations;
The server is used for acquiring the coordinate positions of the at least two base stations, and calculating the current position of the flat transport vehicle according to the distance between the positioning device and the at least two base stations and the coordinate positions of the at least two base stations;
The base station is further configured to receive a first signal sent by the positioning device, return a first response signal to the positioning device based on the first signal, receive a second signal sent by the positioning device, return a second response signal to the positioning device based on the second signal, where the second response signal carries a first time point when the first signal is received, a second time point when the first response signal is returned, and a third time point when the second signal is received;
The positioning device is further configured to obtain a fourth time point when the first signal is transmitted, a fifth time point when the first response signal is received, and a sixth time point when the second signal is transmitted, and calculate a first distance between the positioning device and the base station based on the first time point, the second time point, the third time point, the fourth time point, the fifth time point, and the sixth time point.
6. The system of claim 5, wherein the base station is further configured to broadcast information to the positioning device at regular intervals;
The positioning device is also used for receiving the broadcast information of the base station, calculating signal strength according to the received broadcast information, and calculating a second distance between the positioning device and the base station according to the signal strength;
The positioning device is further configured to determine a target distance between the positioning device and the base station based on the first distance and the second distance.
7. The system of claim 5, wherein the server is further configured to filter the received distance data between the positioning device and the at least two base stations, filter out abnormal data, and perform track smoothing based on the filtered data to obtain the current position of the flatbed transporter.
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