CN112504270A - Facility and method for assisting vehicle positioning in tunnel - Google Patents
Facility and method for assisting vehicle positioning in tunnel Download PDFInfo
- Publication number
- CN112504270A CN112504270A CN202011423246.1A CN202011423246A CN112504270A CN 112504270 A CN112504270 A CN 112504270A CN 202011423246 A CN202011423246 A CN 202011423246A CN 112504270 A CN112504270 A CN 112504270A
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- module
- navigation module
- positioning
- uwb
- tunnel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- 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
- H04W4/024—Guidance services
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/14—Backbone network devices
Abstract
The invention relates to the technical field of intelligent traffic, in particular to a facility and a method for assisting vehicle positioning in a tunnel, which comprise POE (Power over Ethernet) switches, a center server, a target vehicle, an inertial navigation module and a combined navigation module, wherein the POE switches and the center server are electrically connected with one another, each center server can be connected with a plurality of POE switches, the POE switches are connected with a plurality of groups of UWB (ultra wide band) positioning base stations, wireless communication modules are arranged in the UWB positioning base stations, positioning labels are fixedly arranged at the tops of the target vehicle and are miniature flat labels, the inertial navigation module and the combined navigation module are fixedly arranged in the target vehicle, and the combined navigation module is connected with the UWB positioning base stations in a wireless communication mode. The auxiliary vehicle positioning facility and method in the tunnel have strong anti-interference capability, and meanwhile, the positioning system is small in power, large in capacity and high in positioning accuracy.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a facility and a method for assisting vehicle positioning in a tunnel.
Background
The GPS is a global positioning system, which is a satellite navigation positioning system established in the United states, and by utilizing the system, users can realize all-weather, continuous and real-time three-dimensional navigation positioning and speed measurement in a global range; in addition, by using the system, the user can also carry out high-precision time transmission and high-precision positioning; in real life, GPS positioning is mainly used as a technology for remotely positioning and monitoring people, pets, vehicles and equipment in real time; the GPS positioning is a positioning technology combining a GPS technology, a wireless communication technology, an image processing technology and a GIS technology; the prior art is GPS positioning or inertial positioning, and has the problems of no GPS signal or inaccurate positioning, and the vehicle positioning and navigation system mainly solves the problem that the positioning cannot be accurately performed without the GPS signal in a tunnel; therefore, it is an urgent need to design a device and method for assisting vehicle positioning in a tunnel, which is in the field of intelligent traffic technology.
Disclosure of Invention
The invention provides a facility and a method for assisting vehicle positioning in a tunnel, which are designed in an object-oriented mode by using an abstract data model and can be instantiated according to different application scenes so as to solve the problems that in the prior art, the data model difference between industries is large and data management and data analysis cannot be uniformly carried out.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to the embodiment of the invention, the auxiliary vehicle positioning facility in the tunnel comprises a POE switch, a center server, a target vehicle, an inertial navigation module and a combined navigation module, wherein the POE switch is electrically connected with the center server, each center server can be connected with a plurality of POE switches, the POE switches are connected with a plurality of groups of UWB positioning base stations, a wireless communication module is arranged in each UWB positioning base station, a positioning tag is fixedly arranged at the top of the target vehicle and is a miniature flat tag, the inertial navigation module and the combined navigation module are fixedly arranged in the target vehicle, the combined navigation module is connected with the UWB positioning base stations in a wireless communication mode, the inertial navigation module comprises an inertial device and an inertial navigation resolving module, and the combined navigation module comprises a combined navigation resolving module, the intelligent vehicle is characterized in that a UWB information acquisition module is fixedly installed in the target vehicle, the inertial navigation module, the UWB information acquisition module and the integrated navigation resolving module are electrically connected with one another, and settlement data exchange is carried out among the inertial navigation module, the UWB information acquisition module and the integrated navigation resolving module.
Further, the inertial navigation module is a MEMS inertial navigation module and is fixedly installed at an internal center of gravity position of the target vehicle.
Furthermore, the combined navigation module adopts an STM-series single chip microcomputer as a data processing unit.
Furthermore, the navigation result output by the combined navigation module is displayed through a miniature liquid crystal display for the navigation of a user.
Further, the UWB positioning base stations are fixedly installed at the top end inside the tunnel, and each UWB positioning base station is spaced by a distance of meters.
The invention also provides a method for assisting the vehicle positioning facility in the tunnel, which comprises the following steps:
A. acquiring position and speed information through data transmission between a UWB information acquisition module in a target vehicle and a UWB positioning base station;
B. transmitting the position information in the UWB information acquisition module to an integrated navigation resolving module of an integrated navigation module, and loosely coupling the position information with an inertial device in the inertial navigation module and an inertial navigation resolving position and speed difference value;
C. the error estimated value, position, speed and attitude of the inertial device obtained after loose coupling are transmitted to an inertial navigation module in two paths for calculating and correcting parameters;
D. and finally, calculating and correcting parameters through the inertial navigation module, transmitting the parameters to the integrated navigation module, and sending the obtained high-precision navigation result to the miniature liquid crystal display through the integrated navigation module.
The invention has the following advantages:
1. the auxiliary vehicle positioning facility and the auxiliary vehicle positioning method in the tunnel have strong anti-jamming capability, the target vehicle is positioned by adopting a UWB positioning technology, the positioning is accurate without being interfered by electromagnetic signals such as a high-voltage wire, a mobile phone signal and a radio station, the penetration capability of the UWB positioning signal is strong, and the influence of the shielding among the vehicles with large difference of the shapes in the tunnel on the positioning precision is small.
2. The positioning system of the auxiliary vehicle positioning facility and method in the tunnel has low power, and as the power consumption of the 1Hz refreshing speed of the vehicle positioning label is 0.6mw, the radiation of the label to the human body is less than one percent of that of a mobile phone, and the power consumption of the positioning base station is 5w, both the vehicle positioning label and the positioning base station have quite long cruising ability.
3. The positioning system of the auxiliary vehicle positioning facility and the method in the tunnel has large capacity, a single-area tunnel can be compatible with more than 5000 + 10000 positioning labels, the coverage range of the positioning signals is wider, and in the one-dimensional positioning mode in the tunnel, the coverage range of the single-base-station positioning signals is 100 + 150 meters.
4. The positioning precision of the auxiliary vehicle positioning facility and the method in the tunnel is high, the UWB positioning technology precision is usually 10-20 cm, and after the UWB positioning technology is loosely coupled with an inertial navigation system, the positioning precision is further improved, so that the requirement of the vehicle for navigation in the tunnel can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
FIG. 1 is a schematic view of the overall frame structure of the present invention;
FIG. 2 is a schematic diagram of the overall data exchange architecture of the present invention;
FIG. 3 is a schematic diagram of a data calculation flow structure according to the present invention;
in the figure: a POE switch; 2. a central server; 3. a UWB positioning base station; 4. a target vehicle; 5. positioning the label; 6. an inertial navigation module; 7. and a combined navigation module.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
Referring to fig. 1-3, the present invention provides a technical solution:
an auxiliary vehicle positioning facility in a tunnel and a method thereof, comprising a POE exchanger 1, a center server 2, a target vehicle 4, an inertial navigation module 6 and a combined navigation module 7, wherein the POE exchanger 1 is electrically connected with the center server 2, each center server 2 can be connected with a plurality of POE exchangers 1, the POE exchangers 1 are connected with a plurality of groups of UWB positioning base stations 3, a wireless communication module is arranged in each UWB positioning base station 3, a positioning label 5 is fixedly arranged at the top of the target vehicle 4, the positioning label 5 is a miniature flat label, the inertial navigation module 6 and the combined navigation module 7 are fixedly arranged in the target vehicle 4, the combined navigation module 7 is connected with the UWB positioning base stations 3 in a wireless communication mode, so that the combined navigation module 7 and the UWB positioning base stations 3 realize the real-time information transmission in the wireless communication mode, the inertial navigation module 6 comprises an inertial device and an inertial navigation module, the integrated navigation module 7 comprises an integrated navigation module, a UWB information acquisition module is fixedly installed in the target vehicle 4, the inertial navigation module 6, the UWB information acquisition module and the integrated navigation module are electrically connected with each other, and settlement data exchange is carried out between the inertial navigation module 6, the UWB information acquisition module and the integrated navigation module.
In the invention: the inertial navigation module 6 is a MEMS inertial navigation module and is fixedly mounted at the position of the center of gravity inside the target vehicle 4, and is used to measure navigation information of the target vehicle 4 by being fixedly mounted at the position of the center of gravity inside the target vehicle 4.
In the invention: the combined navigation module 7 adopts an STM-32 series single chip microcomputer as a data processing unit, and the data processing performance of the combined navigation module 7 is effectively improved by adopting the STM-32 series single chip microcomputer.
In the invention: the navigation result output by the combined navigation module 7 is displayed through the miniature liquid crystal screen for the user to navigate, the navigation result is displayed through the miniature liquid crystal screen for the user to navigate conveniently, and the overall convenience of the positioning facility is effectively improved.
In the invention: UWB fixes a position the top of base station 3 fixed mounting in the tunnel inside to the distance of 80 meters between every UWB fixes a position the distance of base station 3, makes it cover whole tunnel through the distance of 80 meters between every UWB fixes a position the base station 3, has promoted the holistic precision of location facility.
The invention also provides a method for assisting the vehicle positioning facility in the tunnel, which comprises the following steps:
A. acquiring position and speed information through data transmission between a UWB information acquisition module in the target vehicle 4 and the UWB positioning base station 3;
B. position information in the UWB information acquisition module is transmitted to an integrated navigation calculation module of an integrated navigation module 7, and is loosely coupled with an inertial device in an inertial navigation module 6 and an inertial navigation calculation position and speed difference value;
C. the error estimated value, position, speed and attitude of the inertial device obtained after loose coupling are transmitted to an inertial navigation module 6 in two paths for calculation and parameter correction;
D. and finally, the parameters are calculated and corrected by the inertial navigation module 6 and then transmitted to the integrated navigation module 7, and the integrated navigation module 7 sends the obtained high-precision navigation result to the miniature liquid crystal display.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. The utility model provides an auxiliary vehicle location facility in tunnel, includes POE switch (1), central server (2), target vehicle (4), inertial navigation module (6) and combination navigation module (7), its characterized in that: the POE switch (1) and the center server (2) are connected with each other through electric connection, each center server (2) can be connected with a plurality of POE switches (1), the POE switch (1) is connected with a plurality of groups of UWB positioning base stations (3), a wireless communication module is arranged in each UWB positioning base station (3), a positioning label (5) is fixedly arranged at the top of a target vehicle (4), the positioning label (5) is a miniature flat label, an inertial navigation module (6) and a combined navigation module (7) are fixedly arranged in the target vehicle (4), the combined navigation module (7) and the UWB positioning base stations (3) are connected through a wireless communication mode, the inertial navigation module (6) comprises an inertial device and an inertial navigation resolver, and the combined navigation module (7) comprises a combined navigation resolver, the intelligent vehicle is characterized in that a UWB information acquisition module is fixedly installed in the target vehicle (4), the inertial navigation module (6), the UWB information acquisition module and the combined navigation calculation module are electrically connected with one another, and settlement data exchange is carried out between the inertial navigation module (6), the UWB information acquisition module and the combined navigation calculation module.
2. An in-tunnel auxiliary vehicle positioning facility according to claim 1, wherein: the inertial navigation module (6) is a MEMS inertial navigation module and is fixedly installed at the position of the internal gravity center of the target vehicle (4).
3. An in-tunnel auxiliary vehicle positioning facility according to claim 1, wherein: and the combined navigation module (7) adopts an STM-32 series single chip microcomputer as a data processing unit.
4. An in-tunnel auxiliary vehicle positioning facility according to claim 1, wherein: the navigation result output by the combined navigation module (7) is displayed through a miniature liquid crystal display for the navigation of a user.
5. An in-tunnel auxiliary vehicle positioning facility according to claim 1, wherein: the UWB positioning base stations (3) are fixedly installed at the top end inside the tunnel, and each UWB positioning base station (3) is spaced by a distance of 80 meters.
6. An auxiliary vehicle positioning facility in a tunnel according to claim 1, further comprising a positioning method comprising the steps of:
A. position and speed information is acquired through data transmission between a UWB information acquisition module in the target vehicle (4) and a UWB positioning base station (3);
B. position information in the UWB information acquisition module is transmitted to an integrated navigation resolving module of an integrated navigation module (7), and the position and speed difference is loosely coupled with an inertial device and an inertial navigation resolving module in an inertial navigation module (6);
C. the error estimated value, position, speed and attitude of the inertia device obtained after loose coupling are transmitted to an inertia navigation module (6) in two paths for further calculation and parameter correction;
D. and finally, parameters are calculated and corrected through the inertial navigation module (6) and then transmitted to the integrated navigation module (7), and the obtained high-precision navigation result is sent to the miniature liquid crystal display through the integrated navigation module (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423246.1A CN112504270A (en) | 2020-12-08 | 2020-12-08 | Facility and method for assisting vehicle positioning in tunnel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011423246.1A CN112504270A (en) | 2020-12-08 | 2020-12-08 | Facility and method for assisting vehicle positioning in tunnel |
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| CN112504270A true CN112504270A (en) | 2021-03-16 |
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| CN202011423246.1A Pending CN112504270A (en) | 2020-12-08 | 2020-12-08 | Facility and method for assisting vehicle positioning in tunnel |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113099529A (en) * | 2021-03-29 | 2021-07-09 | 千寻位置网络（浙江）有限公司 | Indoor vehicle navigation method, vehicle-mounted terminal, field terminal server and system |
| CN113423056A (en) * | 2021-05-11 | 2021-09-21 | 深圳市虹鹏能源科技有限责任公司 | Navigation method and device for tunnel horizontal transport vehicle, computer equipment and medium |
| CN113593285A (en) * | 2021-08-03 | 2021-11-02 | 上海智能新能源汽车科创功能平台有限公司 | Intelligent bus automatic driving and station-leaning management system |
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