CN112505621A - Positioning navigation method based on bionic group control - Google Patents
Positioning navigation method based on bionic group control Download PDFInfo
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- CN112505621A CN112505621A CN202011039089.4A CN202011039089A CN112505621A CN 112505621 A CN112505621 A CN 112505621A CN 202011039089 A CN202011039089 A CN 202011039089A CN 112505621 A CN112505621 A CN 112505621A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005516 engineering process Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 7
- 239000002390 adhesive tape Substances 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 5
- 235000001968 nicotinic acid Nutrition 0.000 abstract description 4
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- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000031018 biological processes and functions Effects 0.000 description 1
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- 238000013178 mathematical model Methods 0.000 description 1
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Classifications
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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
- G01S5/0257—Hybrid positioning
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a positioning navigation method based on bionic group control.A detector is arranged on a parking space where each bionic group carrying vehicle stops so as to detect whether the vehicle stays on the parking space or not, meanwhile, a detection signal is transmitted to a background parking control system, a specific identification symbol is arranged on each parking space, and a computer is used as an operation platform. According to the invention, through the bionics principle and by means of the characteristic law of a bionic group, a plurality of groups of signal receiving and sending equipment are installed on corresponding vehicle parking stall areas and mobile carrier devices, the whole signals are connected in series to form a signal processing relation network by utilizing a background parking control system, and the whole driving track of the vehicle is more accurately positioned and navigated by virtue of a background computer system, so that sudden traffic jam is effectively avoided, the driving law of the vehicle is mastered, the aim is achieved, the structural science and technology degree is higher, the operation is more convenient, and the device is worthy of later popularization and use.
Description
Technical Field
The invention relates to the technical field of bionic population control, in particular to a positioning navigation method based on bionic population control.
Background
The bionics concept builds a bridge between biology and technology and provides help for solving technical problems, by reproducing the principle of biology, humans not only find technical solutions, but also completely adapt to the needs of nature, the purpose is to analyze biological processes and structures and use the obtained analysis results for future design, the bionics concept is based on natural evolution and co-evolution, the technology engaged in by humans is to achieve optimization and mutual coordination, and the function of simulating the biological adaptive environment is undoubtedly a good opportunity.
On some existing vehicle transportation equipment, in order to better perform whole-course measurement and calculation on a driving route before, during and after transportation to obtain the best driving track and conveniently and effectively avoid the phenomena of traffic jam and the like, a related positioning navigation system is needed, and the existing positioning navigation system is simple and crude in structure, mainly depends on GPS real-time navigation, has large error and cannot perform accurate measurement and calculation on the real-time driving track, and a positioning navigation method based on bionic group control is required to solve the problems.
Disclosure of Invention
The invention aims to solve the problems in the prior art: the existing positioning navigation system is simple and crude in structure, mainly depends on GPS real-time navigation, has large error, and cannot accurately measure and calculate real-time driving track.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning navigation method based on bionic population control comprises the following steps:
A. setting a detector and arranging parking spaces:
s1, installing a detector on each parking space where each bionic group carrier vehicle stops so as to detect whether the vehicle stays on the parking space, simultaneously transmitting a detection signal to a background parking control system, and installing a specific identification symbol on each parking space;
B. setting a background parking control system:
s1, the computer is used as an operation platform, a detailed map of an area where the vehicle is parked is stored in a hard disk of the computer, and the longitude and latitude position where each vehicle parking space is located is surveyed, so that better positioning is facilitated;
C. a plurality of signal receiving and transmitting devices:
s1, winding and fixing a plurality of signal receiving and transmitting devices on a ceiling and a ceiling pillar of a parking space in the parking space area where the vehicle stops through adhesive tapes;
D. setting a matched mobile carrier device:
s1, connecting the parking control system with a background parking control system of a parking area of the vehicle by using a wireless wifi technology, and receiving and identifying a specific map of the parking area by a built-in WeChat computer;
s2, the light-duty micro-truck vehicle is used as a carrier, and the whole device is moved through the rotation of the vehicle driving wheel;
E. the method comprises the following specific steps of demonstration:
s1, after the transport vehicle is started, the transport vehicle moves to a parking space area where the transport vehicle stops, and the background parking control system is in signal connection with the wireless wifi equipment on the mobile carrier device;
s2, the signal receiving and sending device in the parking space area sends out the positioning signal, and the signal receiving device on the mobile carrier device receives the signal to obtain corresponding position information;
s3, taking 1-3 hours as the total time, the vehicle in the parking space and the signal receiving and sending device on the adjacent vehicle form a local signal network, and the corresponding signal sending device on each vehicle sends the specific coordinate position of the area;
s4, receiving coordinate information of adjacent vehicles through the vehicles needing to be positioned, measuring the relative distance between the vehicles with positioning and the adjacent vehicles by means of the arrival time principle of sound wave signals, and recording and taking values: L1-L3, where V is the propagation velocity of the acoustic signal in the air, and t is the propagation time of the acoustic signal from the vehicle to be located to its adjacent vehicle M, the calculation formula can be set as: l ═ V (tslot-tstmit)/2.
Preferably, the signal receiving and transmitting device comprises a protective cover, and a radio frequency transceiver, a wireless network module or an ultrasonic transceiver is arranged in the protective cover.
Preferably, a display module is installed inside the mobile carrier device, the display module acquires a parking lot map from a background parking control system through a signal receiving and sending device, receives coordinate information of the corresponding mobile carrier device, displays a mark on the parking lot map, respectively uses the mobile carrier device and an idle parking space in an area where the mobile carrier device is located as a starting place and a destination, displays a driving path between the mobile carrier device and the idle parking space, and navigates the mobile carrier device to the idle parking space.
Compared with the prior art, the invention has the beneficial effects that:
through bionics principle, with the help of the characteristic law of bionical crowd, send out the equipment installation to the corresponding vehicle parking stall region with the multiunit signal, on the removal carrier device, utilize backstage parking control system to establish ties into a signal processing relation net with whole signal, carry out more accurate location and navigation with the help of backstage computer system to the whole orbit of vehicle, effectively avoid proruption traffic jam, grasp the vehicle law of traveling, accomplish some target, the structure science and technology ization degree is higher, it is more convenient to operate, be worth the later stage and use widely.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
A positioning navigation method based on bionic population control comprises the following steps:
the first embodiment,
A. Setting a detector and arranging parking spaces:
s1, installing a detector on each parking space where each bionic group carrier vehicle stops so as to detect whether the vehicle stays on the parking space, simultaneously transmitting a detection signal to a background parking control system, and installing a specific identification symbol on each parking space;
B. setting a background parking control system:
s1, the computer is used as an operation platform, a detailed map of an area where the vehicle is parked is stored in a hard disk of the computer, and the longitude and latitude position where each vehicle parking space is located is surveyed, so that better positioning is facilitated;
C. a plurality of signal receiving and transmitting devices:
s1, winding and fixedly arranging a plurality of signal receiving and sending devices on a ceiling and a ceiling pillar of a parking space in the parking space area where the vehicle stops through adhesive tapes, wherein each signal receiving and sending device comprises a protective cover, and a radio frequency transceiver, a wireless network module or an ultrasonic transceiver is arranged in each protective cover;
D. setting a matched mobile carrier device:
s1, connecting the parking control system with a background parking control system of a parking area of the vehicle by using a wireless wifi technology, and receiving and identifying a specific map of the parking area by a built-in WeChat computer;
s2, the light-duty micro-truck vehicle is used as a carrier, and the whole device is moved through the rotation of the vehicle driving wheel;
the mobile carrier device is internally provided with a display assembly, the display assembly acquires a parking lot map from a background parking control system through a signal receiving and sending device, receives coordinate information of the corresponding mobile carrier device, then carries out mark display on the parking lot map, respectively takes the mobile carrier device and an idle parking space in the area where the mobile carrier device is located as an initial place and a destination, displays a driving path between the mobile carrier device and the idle parking space, and navigates the mobile carrier device to the idle parking space
E. The method comprises the following specific steps of demonstration:
s1, after the transport vehicle is started, the transport vehicle moves to a parking space area where the transport vehicle stops, and the background parking control system is in signal connection with the wireless wifi equipment on the mobile carrier device;
s2, the signal receiving and sending device in the parking space area sends out the positioning signal, and the signal receiving device on the mobile carrier device receives the signal to obtain corresponding position information;
s3, taking 1 hour as the total time, the vehicle in the parking space and the signal receiving and sending device on the adjacent vehicle form a local signal network, and the corresponding signal sending device on each vehicle sends the specific coordinate position of the area;
s4, receiving coordinate information of adjacent vehicles through the vehicles needing to be positioned, measuring the relative distance between the vehicles with positioning and the adjacent vehicles by means of the arrival time principle of sound wave signals, and recording and taking values: l1, where V is the propagation velocity of the acoustic wave signal in the air, and t is the propagation time of the acoustic wave signal from the vehicle to be located to its adjacent vehicle M, the calculation formula can be set as follows: l ═ V (tslot-tstmit)/2.
Example II,
A. Setting a detector and arranging parking spaces:
s1, installing a detector on each parking space where each bionic group carrier vehicle stops so as to detect whether the vehicle stays on the parking space, simultaneously transmitting a detection signal to a background parking control system, and installing a specific identification symbol on each parking space;
B. setting a background parking control system:
s1, the computer is used as an operation platform, a detailed map of an area where the vehicle is parked is stored in a hard disk of the computer, and the longitude and latitude position where each vehicle parking space is located is surveyed, so that better positioning is facilitated;
C. a plurality of signal receiving and transmitting devices:
s1, winding and fixedly arranging a plurality of signal receiving and sending devices on a ceiling and a ceiling pillar of a parking space in the parking space area where the vehicle stops through adhesive tapes, wherein each signal receiving and sending device comprises a protective cover, and a radio frequency transceiver, a wireless network module or an ultrasonic transceiver is arranged in each protective cover;
D. setting a matched mobile carrier device:
s1, connecting the parking control system with a background parking control system of a parking area of the vehicle by using a wireless wifi technology, and receiving and identifying a specific map of the parking area by a built-in WeChat computer;
s2, taking a light mini-truck as a carrier, moving the whole device by the rotation of a vehicle driving wheel, wherein a display component is installed in the mobile carrier device, the display component acquires a parking lot map from a background parking control system through a signal receiving and sending device, receives coordinate information of a corresponding mobile carrier device, then carries out marking display on the parking lot map, takes the mobile carrier device and an idle parking space in the area where the mobile carrier device is located as a starting place and a destination respectively, displays a driving path between the mobile carrier device and the idle parking space, and navigates the mobile carrier device to the idle parking space;
E. the method comprises the following specific steps of demonstration:
s1, after the transport vehicle is started, the transport vehicle moves to a parking space area where the transport vehicle stops, and the background parking control system is in signal connection with the wireless wifi equipment on the mobile carrier device;
s2, the signal receiving and sending device in the parking space area sends out the positioning signal, and the signal receiving device on the mobile carrier device receives the signal to obtain corresponding position information;
s3, taking 2 hours as the total time, the vehicle in the parking space and the signal receiving and sending device on the adjacent vehicle form a local signal network, and the corresponding signal sending device on each vehicle sends the specific coordinate position of the area;
s4, receiving coordinate information of adjacent vehicles through the vehicles needing to be positioned, measuring the relative distance between the vehicles with positioning and the adjacent vehicles by means of the arrival time principle of sound wave signals, and recording and taking values: l2, where V is the propagation velocity of the acoustic wave signal in the air, and t is the propagation time of the acoustic wave signal from the vehicle to be located to its adjacent vehicle M, the calculation formula can be set as follows: l ═ V (tslot-tstmit)/2.
Example III,
A. Setting a detector and arranging parking spaces:
s1, installing a detector on each parking space where each bionic group carrier vehicle stops so as to detect whether the vehicle stays on the parking space, simultaneously transmitting a detection signal to a background parking control system, and installing a specific identification symbol on each parking space;
B. setting a background parking control system:
s1, the computer is used as an operation platform, a detailed map of an area where the vehicle is parked is stored in a hard disk of the computer, and the longitude and latitude position where each vehicle parking space is located is surveyed, so that better positioning is facilitated;
C. a plurality of signal receiving and transmitting devices:
s1, winding and fixedly arranging a plurality of signal receiving and sending devices on a ceiling and a ceiling pillar of a parking space in the parking space area where the vehicle stops through adhesive tapes, wherein each signal receiving and sending device comprises a protective cover, and a radio frequency transceiver, a wireless network module or an ultrasonic transceiver is arranged in each protective cover;
D. setting a matched mobile carrier device:
s1, connecting the parking control system with a background parking control system of a parking area of the vehicle by using a wireless wifi technology, and receiving and identifying a specific map of the parking area by a built-in WeChat computer;
s2, taking a light mini-truck as a carrier, moving the whole device by the rotation of a vehicle driving wheel, wherein a display component is installed in the mobile carrier device, the display component acquires a parking lot map from a background parking control system through a signal receiving and sending device, receives coordinate information of a corresponding mobile carrier device, then carries out marking display on the parking lot map, takes the mobile carrier device and an idle parking space in the area where the mobile carrier device is located as a starting place and a destination respectively, displays a driving path between the mobile carrier device and the idle parking space, and navigates the mobile carrier device to the idle parking space;
E. the method comprises the following specific steps of demonstration:
s1, after the transport vehicle is started, the transport vehicle moves to a parking space area where the transport vehicle stops, and the background parking control system is in signal connection with the wireless wifi equipment on the mobile carrier device;
s2, the signal receiving and sending device in the parking space area sends out the positioning signal, and the signal receiving device on the mobile carrier device receives the signal to obtain corresponding position information;
s3, taking 3 hours as the total time, the vehicle in the parking space and the signal receiving and sending device on the adjacent vehicle form a local signal network, and the corresponding signal sending device on each vehicle sends the specific coordinate position of the area;
s4, receiving coordinate information of adjacent vehicles through the vehicles needing to be positioned, measuring the relative distance between the vehicles with positioning and the adjacent vehicles by means of the arrival time principle of sound wave signals, and recording and taking values: l3, where V is the propagation velocity of the acoustic wave signal in the air, and t is the propagation time of the acoustic wave signal from the vehicle to be located to its adjacent vehicle M, the calculation formula can be set as follows: l ═ V (tslot-tstmit)/2.
The invention utilizes the cooperation of a plurality of signal receiving and sending devices and a high-frequency sound wave signal transmission system to measure and calculate the distance and the real-time coordinate position in the driving process of the vehicle, adopts the characteristics of bionic groups, calculates the measured and calculated data by combining a mathematical model, and leads the obtained data into a database to form a set of mature and specific positioning and navigation system, and has higher scientific degree and more convenient and intelligent use.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. A positioning navigation method based on bionic population control is characterized by comprising the following steps:
A. setting a detector and arranging parking spaces:
s1, installing a detector on each parking space where each bionic group carrier vehicle stops so as to detect whether the vehicle stays on the parking space, simultaneously transmitting a detection signal to a background parking control system, and installing a specific identification symbol on each parking space;
B. setting a background parking control system:
s1, the computer is used as an operation platform, a detailed map of an area where the vehicle is parked is stored in a hard disk of the computer, and the longitude and latitude position where each vehicle parking space is located is surveyed, so that better positioning is facilitated;
C. a plurality of signal receiving and transmitting devices:
s1, winding and fixing a plurality of signal receiving and transmitting devices on a ceiling and a ceiling pillar of a parking space in the parking space area where the vehicle stops through adhesive tapes;
D. setting a matched mobile carrier device:
s1, connecting the parking control system with a background parking control system of a parking area of the vehicle by using a wireless wifi technology, and receiving and identifying a specific map of the parking area by a built-in WeChat computer;
s2, the light-duty micro-truck vehicle is used as a carrier, and the whole device is moved through the rotation of the vehicle driving wheel;
E. the method comprises the following specific steps of demonstration:
s1, after the transport vehicle is started, the transport vehicle moves to a parking space area where the transport vehicle stops, and the background parking control system is in signal connection with the wireless wifi equipment on the mobile carrier device;
s2, the signal receiving and sending device in the parking space area sends out the positioning signal, and the signal receiving device on the mobile carrier device receives the signal to obtain corresponding position information;
s3, taking 1-3 hours as the total time, the vehicle in the parking space and the signal receiving and sending device on the adjacent vehicle form a local signal network, and the corresponding signal sending device on each vehicle sends the specific coordinate position of the area;
s4, receiving coordinate information of adjacent vehicles through the vehicles needing to be positioned, measuring the relative distance between the vehicles with positioning and the adjacent vehicles by means of the arrival time principle of sound wave signals, and recording and taking values: L1-L3, where V is the propagation velocity of the acoustic signal in the air, and t is the propagation time of the acoustic signal from the vehicle to be located to its adjacent vehicle M, the calculation formula can be set as: l ═ V (tslot-tstmit)/2.
2. The positioning and navigation method based on bionic swarm control as claimed in claim 1, wherein the signal receiving and transmitting device comprises a protective cover, and a radio frequency transceiver, a wireless network module or an ultrasonic transceiver is disposed inside the protective cover.
3. The positioning and navigation method based on bionic group control as claimed in claim 1, wherein a display component is installed inside the mobile carrier device, the display component obtains a parking lot map from a background parking control system through a signal receiving and sending device, receives coordinate information of the corresponding mobile carrier device, then performs mark display on the parking lot map, respectively uses the mobile carrier device and an idle parking space in the area where the mobile carrier device is located as a starting place and a destination, displays a driving path between the mobile carrier device and the idle parking space, and navigates the mobile carrier device to the idle parking space.
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| CN105528908A (en) * | 2015-12-08 | 2016-04-27 | 徐家斌 | Indoor positioning and navigation system and positioning and navigation method thereof |
| CN107103355A (en) * | 2017-04-21 | 2017-08-29 | 北京工业大学 | A kind of intelligent vehicle SLAM data correlation methods based on improvement artificial fish-swarm algorithm |
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2020
- 2020-09-28 CN CN202011039089.4A patent/CN112505621A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632558A (en) * | 2013-11-15 | 2014-03-12 | 西北工业大学 | Bionic swarm intelligence-based real-time positioning navigation and motion control method and system for moving vehicle |
| CN104616541A (en) * | 2015-02-03 | 2015-05-13 | 吉林大学 | Fish streaming based non-signal intersection vehicle-vehicle cooperation control system |
| CN105528908A (en) * | 2015-12-08 | 2016-04-27 | 徐家斌 | Indoor positioning and navigation system and positioning and navigation method thereof |
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