CN112995891A - Parking lot vehicle positioning method and system based on UWB - Google Patents
Parking lot vehicle positioning method and system based on UWB Download PDFInfo
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- CN112995891A CN112995891A CN202110170044.9A CN202110170044A CN112995891A CN 112995891 A CN112995891 A CN 112995891A CN 202110170044 A CN202110170044 A CN 202110170044A CN 112995891 A CN112995891 A CN 112995891A
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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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
- H04W4/029—Location-based management or tracking 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
Abstract
The invention belongs to the technical field of wireless positioning, and particularly relates to a parking lot vehicle positioning method and system based on UWB (ultra wide band). The positioning system comprises a positioning tag, a UWB positioning base station and a background server, wherein the positioning tag is used for receiving a data packet sent by the UWB positioning base station, performing position calculation and sending the calculated data to the background server through a network, and the positioning tag comprises a vehicle body positioning tag and a personnel positioning tag; the UWB positioning base station is used for sending a positioning data packet to the UWB positioning tag; the background server sends the position data to the user APP and the parking lot management client through the Internet, and can also plan a navigation path and send the navigation path to the user APP; the positioning system adopts a passive TDOA calculation method, so that the operation pressure of the server is greatly reduced; the management efficiency of the parking area is improved, and the intellectualization of the parking area management is promoted.
Description
The technical field is as follows:
the invention belongs to the technical field of wireless positioning, and particularly relates to a parking lot vehicle positioning method and system based on UWB.
Background art:
influenced by sheltering from, big dipper, GPS etc. can't be at indoor use, in underground parking garage, can't in time acquire vehicle position and surplus parking stall condition. Especially in large parking lots, some owners easily forget the position of their own vehicle. For solving the problem of vehicle positioning in a parking lot, some researches are available, for example, chinese patent No. cn201310020424.x discloses a parking lot vehicle tracking positioning gateway and a method for positioning a vehicle, wherein the parking lot tracking positioning gateway receives data sent by a pressure sensing vehicle detection node at a parking lot entrance, determines that a vehicle approaches the parking lot entrance, drives a camera to take a picture when the vehicle reaches a lifting and falling rod position through ultrasonic detection, and transmits the picture and information that the vehicle reaches the parking lot to an upper management platform; after recognizing the license plate number according to the photo, the upper management platform sends a lifting rod driving instruction to the gateway, and the gateway opens the lifting rod according to the instruction; when a vehicle enters a parking lot, the gateway sequentially receives data sent by each pressure induction detection node and forwards the data to the upper management platform; chinese patent CN201620341524.1 discloses an intelligent positioning parking and reverse car-searching guidance system for parking lot. The system comprises: a terminal ID card, comprising: the payment module is used for paying the parking fee; the parking module is used for searching for a parking space; the vehicle searching module is used for reversely searching the vehicle; the first communication module is used for communicating with other communication modules; the control server side comprises: the detection module is used for detecting the state of the automobile in the parking space; the scanning module is used for photographing and scanning the license plate of the automobile; the control module is used for controlling the display of the parking space state lamp and the display of the display end; a second communication module; an application server, comprising: the third communication module is used for communicating with the first communication module and the second communication module; the data processing module is used for processing the optimal path planning; operating the database module to process the data read and written from the database; chinese patent CN201510138256.3 discloses an indoor parking lot multi-target tracking positioning system, which comprises a UWB positioning system and a car body positioning device, wherein the UWB positioning system comprises a wireless synchronous controller and a wireless positioning base station; the vehicle body positioning device comprises a vehicle body positioning label, an inertial navigation module, a wireless module and a mobile power supply module; the data output by the inertial navigation module is sent to an upper computer system through a wireless module; meanwhile, the vehicle body positioning tag sends a signal to the wireless positioning base station, and the wireless positioning base station transmits data to the wireless synchronous controller; the wireless synchronous controller sends the signals to an upper computer, the upper computer system acquires target position data and attitude data, specific position and attitude information of the vehicle body is determined through fusion operation, and the information is sent to the mobile client. However, the prior art has some disadvantages, such as that the position of the vehicle in the parking lot and the vacant parking space cannot be known in time, and the UWB base station used needs to have a network communication function. There is a need to find a positioning method that can timely obtain the position of a vehicle in a parking lot and an empty parking space without a UWB base station having a network communication function, simplify equipment, and improve user satisfaction.
The invention content is as follows:
the invention aims to overcome the defects of the prior art, designs a parking lot vehicle positioning method and system based on UWB, and simplifies a positioning system through a passive TDOA positioning algorithm.
In order to achieve the aim, the invention provides a parking lot vehicle positioning method based on UWB, which is suitable for a parking lot provided with a plurality of UWB positioning base stations, and comprises the following specific steps:
(1) setting a UWB positioning base station: at least 3 UWB positioning base stations form a group, and the base stations in the same group for positioning must keep strict clock synchronization, namely the time starting points of the base stations are kept the same so as to calculate the measurement time; meanwhile, the time intervals of sending the positioning signals by all base stations in the same group are kept consistent;
(2) when a vehicle enters a parking lot, a vehicle owner can obtain two positioning tags, wherein one positioning tag is a vehicle body positioning tag used for positioning the vehicle and placed in the vehicle, and the other positioning tag is a personnel positioning tag carried by the vehicle owner; the UWB positioning base station sends a positioning data packet to the vehicle body positioning tag and the personnel positioning tag;
(3) after the vehicle body positioning tags or the personnel positioning tags receive the positioning data sent by all the base stations in the group, the coordinates of the vehicle body positioning tags or the personnel positioning tags are calculated by adopting a passive TDOA positioning algorithm;
(4) the vehicle body positioning tag or the personnel positioning tag sends the calculated data to a background server through a network;
(5) the background server sends the position data to a parking lot user APP and a parking lot management client;
(6) the vehicle owner can bind the license plate number with the vehicle body positioning tag and the personnel positioning tag through the user APP, and after the license plate number is bound, the license plate number is input into the APP to check the positioning of the vehicle and the vehicle owner; when the vehicle owner is uncertain about the vehicle searching path, the user APP can provide the navigation path planned by the background server, so that the vehicle owner can conveniently and smoothly find the vehicle.
Further, the passive TDOA location algorithm in step (3) is specifically: the vehicle body positioning tag or the personnel positioning tag calculates the signal arrival time difference between different UWB positioning base stations and the vehicle body positioning tag or the personnel positioning tag, after the time difference is obtained, the distance difference between the vehicle body positioning tag or the personnel positioning tag and the UWB positioning base station is calculated, a unique hyperbola is established according to the distance difference, and the coordinates of the vehicle body positioning tag or the personnel positioning tag are obtained by solving a hyperbola equation set established by at least 3 base stations.
Further, the vehicle body positioning tag or the personnel positioning tag uses an MCU with the computing power larger than 1.6DMIPS/MHz inside, runs a positioning calculation program, can process the measurement data, and further performs position calculation.
The invention also provides a parking lot vehicle positioning system based on the UWB, the positioning system comprises a positioning tag, a UWB positioning base station and a background server, the positioning tag is used for receiving the data packet sent by the UWB positioning base station, carrying out position calculation and sending the calculated data to the background server through a network, and the positioning tag comprises a vehicle body positioning tag and a personnel positioning tag; the UWB positioning base station is used for sending a positioning data packet to the UWB positioning tag; the background server sends the position data to the user APP and the parking lot management client through the internet, and the background server can also plan a navigation path and send the navigation path to the user APP.
Compared with the prior art, the vehicle body positioning tag and the personnel positioning tag both use the MCU (the calculation capability is more than 1.6DMIPS/MHz) with stronger calculation capability, and run the positioning calculation program, so that the measurement data can be processed, and further the position calculation is carried out; the MCU used by the existing tag is often general in computing capability and cannot perform complex operation such as position calculation; the positioning system adopts a passive TDOA calculation method, so that the operation pressure of the server is greatly reduced; the simplified UWB positioning system is applied to a parking lot system; the function of inquiring the position of the vehicle is provided for the user, and the user is helped to search the vehicle; the management efficiency of the parking area is improved, and the intellectualization of the parking area management is promoted.
Description of the drawings:
fig. 1 is a schematic diagram illustrating the operation of a UWB-based parking lot vehicle positioning system according to the present invention.
Fig. 2 is a schematic diagram illustrating the principle of solving coordinates of the UWB positioning tag according to the present invention.
Fig. 3 is a schematic view of a navigation planning principle according to the present invention.
The specific implementation mode is as follows:
the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.
Example 1:
the embodiment relates to a parking lot vehicle positioning method based on UWB, which is suitable for a parking lot provided with a plurality of UWB positioning base stations, and comprises the following specific steps:
(1) setting a UWB positioning base station: at least 3 UWB positioning base stations form a group, and the base stations in the same group for positioning must keep strict clock synchronization, namely the time starting points of the base stations are kept the same so as to calculate the measurement time; meanwhile, the time intervals of sending the positioning signals by all base stations in the same group are kept consistent;
(2) when a vehicle enters a parking lot, a vehicle owner can obtain two positioning tags, wherein one positioning tag is a vehicle body positioning tag used for positioning the vehicle and placed in the vehicle, and the other positioning tag is a personnel positioning tag carried by the vehicle owner; the UWB positioning base station sends positioning data packets to the vehicle body positioning tag and the personnel positioning tag through UWB communication;
(3) after the vehicle body positioning tag or the personnel positioning tag receives positioning data sent by all base stations in the group, calculating the signal arrival time difference between different UWB positioning base stations and the vehicle body positioning tag or the personnel positioning tag, obtaining the time difference, calculating the distance difference between the vehicle body positioning tag or the personnel positioning tag and the UWB positioning base station, establishing a unique hyperbola according to the distance difference, and solving the coordinates of the vehicle body positioning tag or the personnel positioning tag according to a hyperbola equation set established by at least 3 base stations;
where (x, y) is the location coordinate of the location tag, ri,1Indicating the difference between the distance of the tag to the other base station and the distance of the first base station, t21Time difference, t, for tag UWB signals arriving at base station 1 and base station 231The time difference of the tag UWB signals reaching the base station 1 and the base station 3 is shown, and c is the propagation speed of electromagnetic waves in the air;
obtaining the coordinates (x, y) of the vehicle body positioning label or the personnel label by solving the formula (1);
(4) the vehicle body positioning tag or the personnel positioning tag sends the calculated data to a background server through a network;
(5) the background server sends the position data to a parking lot user APP and a parking lot management client;
(6) the vehicle owner can bind the license plate number with the vehicle body positioning tag and the personnel positioning tag through the user APP, and after the license plate number is bound, the license plate number is input into the APP to check the positioning of the vehicle and the vehicle owner; when the vehicle owner is uncertain about the vehicle searching path, the user APP can provide the navigation path planned by the background server, so that the vehicle owner can conveniently and smoothly find the vehicle.
The navigation path planning in the step (6) uses a grid method, the grid method adopts grids to describe the path-finding environment of people, the whole map space is divided into uniform and regular grids before the method is used, whether each grid contains obstacles is taken as a judgment basis, the distribution situation of the obstacles in the space can be judged according to grid information, and the flow is as follows:
(1) firstly, establishing a grid index for the whole parking lot map at a background server, for example, as shown in fig. 3, if grids can pass through, setting nodes, and enabling each node to be contained in one grid;
(2) after the grid index is established and a path is planned, judging whether nodes exist in the grid or not;
(3) and if the nodes exist, calculating whether points within the tolerance exist in the distances between the grid where the nodes exist and the grid nodes adjacent to the nodes. Where the tolerance refers to a predefined distance difference;
(4) if the point within the tolerance exists, the two points are considered to be matched, and the two points are combined into one point;
(5) and repeating the steps to finally reach the destination, and finishing the path planning, wherein the dotted line is the finally planned navigation path as shown in fig. 3.
The vehicle body positioning tag and the personnel positioning tag used in the embodiment are both internally provided with the MCU (the calculation capability is greater than 1.6DMIPS/MHz) with stronger calculation capability, and the positioning calculation program is operated, so that the measurement data can be processed, and the position calculation is carried out.
The method for positioning the vehicle in the parking lot based on the UWB is realized through the vehicle positioning system in the parking lot based on the UWB, the positioning system comprises a positioning tag, a UWB positioning base station and a background server, the positioning tag is used for receiving a data packet sent by the UWB positioning base station, performing position calculation and sending the calculated data to the background server through a network, and the positioning tag comprises a vehicle body positioning tag and a personnel positioning tag; the UWB positioning base station is used for sending a positioning data packet to the UWB positioning tag; the background server sends the position data to the user APP and the parking lot management client through the internet, and the background server can also plan a navigation path and send the navigation path to the user APP.
Claims (4)
1. A parking lot vehicle positioning method based on UWB is characterized in that the method is suitable for a parking lot provided with a plurality of UWB positioning base stations, and comprises the following specific steps:
(1) setting a UWB positioning base station: at least 3 UWB positioning base stations form a group, and the base stations in the same group for positioning must keep strict clock synchronization, namely the time starting points of the base stations are kept the same so as to calculate the measurement time; meanwhile, the time intervals of sending the positioning signals by all base stations in the same group are kept consistent;
(2) when a vehicle enters a parking lot, a vehicle owner can obtain two positioning tags, wherein one positioning tag is a vehicle body positioning tag used for positioning the vehicle and placed in the vehicle, and the other positioning tag is a personnel positioning tag carried by the vehicle owner; the UWB positioning base station sends a positioning data packet to the vehicle body positioning tag and the personnel positioning tag;
(3) after the vehicle body positioning tags or the personnel positioning tags receive the positioning data sent by all the base stations in the group, the coordinates of the vehicle body positioning tags or the personnel positioning tags are calculated by adopting a passive TDOA positioning algorithm;
(4) the vehicle body positioning tag or the personnel positioning tag sends the calculated data to a background server through a network;
(5) the background server sends the position data to a parking lot user APP and a parking lot management client;
(6) the vehicle owner can bind the license plate number with the vehicle body positioning tag and the personnel positioning tag through the user APP, and after the license plate number is bound, the license plate number is input into the APP to check the positioning of the vehicle and the vehicle owner; when the vehicle owner is uncertain about the vehicle searching path, the user APP can provide the navigation path planned by the background server, so that the vehicle owner can conveniently and smoothly find the vehicle.
2. The UWB-based parking lot vehicle location method according to claim 1, wherein the passive TDOA location algorithm of step (3) is specifically: the vehicle body positioning tag or the personnel positioning tag calculates the signal arrival time difference between different UWB positioning base stations and the vehicle body positioning tag or the personnel positioning tag, after the time difference is obtained, the distance difference between the vehicle body positioning tag or the personnel positioning tag and the UWB positioning base station is calculated, a unique hyperbola is established according to the distance difference, and the coordinates of the vehicle body positioning tag or the personnel positioning tag are obtained by solving a hyperbola equation set established by at least 3 base stations.
3. The parking lot vehicle positioning method based on the UWB according to claim 1, wherein the vehicle body positioning tag or the personnel positioning tag uses an MCU with a calculation capability of more than 1.6DMIPS/MHz inside, and runs a positioning calculation program, and can process the measurement data, and further perform position calculation.
4. The UWB-based parking lot vehicle positioning method is characterized in that the method is realized by a UWB-based parking lot vehicle positioning system, the positioning system comprises a positioning tag, a UWB positioning base station and a background server, the positioning tag is used for receiving a data packet sent by the UWB positioning base station, performing position calculation, sending the calculated data to the background server through a network, and the positioning tag comprises a vehicle body positioning tag and a personnel positioning tag; the UWB positioning base station is used for sending a positioning data packet to the UWB positioning tag; the background server sends the position data to the user APP and the parking lot management client through the internet, and the background server can also plan a navigation path and send the navigation path to the user APP.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113542432A (en) * | 2021-08-09 | 2021-10-22 | 陕西翰林亿讯智能科技有限公司 | Navigation positioning system based on Internet of things |
| CN114143794A (en) * | 2021-11-19 | 2022-03-04 | 福建亿榕信息技术有限公司 | Portable wireless pulse positioning system |
| CN114449442A (en) * | 2022-01-19 | 2022-05-06 | 中铁第四勘察设计院集团有限公司 | Intelligent rail vehicle in-garage positioning system and method based on UWB technology |
| WO2023279650A1 (en) * | 2021-07-08 | 2023-01-12 | 惠州市德赛西威汽车电子股份有限公司 | Uwb technology-based vehicle component positioning and system |
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