CN113271547B - Unmanned tracking driving method and terminal based on UWB array positioning navigation - Google Patents
Unmanned tracking driving method and terminal based on UWB array positioning navigation Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- 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
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- H—ELECTRICITY
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Abstract
The invention discloses an unmanned tracking driving method and a terminal based on UWB array positioning navigation; the method comprises the steps of establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations; acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points; controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point; the invention completely breaks away from the use of the GPS and the Beidou, can carry out unmanned tracking driving under the condition of no GPS or Beidou positioning, has more economical and practical price of the UWB module compared with the positioning module of the GPS or the Beidou, and can reduce the cost of unmanned vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned tracking driving method and terminal based on UWB array positioning navigation.
Background
Unmanned vehicles are the main trend of future development in the field of automobiles, and tracking driving of automobiles is a mode of automatic driving of unmanned vehicles. The tracking driving refers to automatic tracking driving of the automobile according to a preset route. Most of the existing positioning and navigation technologies adopted by unmanned tracking driving are GPS, beidou and the like, but when the signals are shielded or the signals are weak, the unmanned vehicle is difficult to smoothly complete the specified tracking task.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the unmanned tracking driving method and the terminal based on UWB array positioning navigation are provided, and unmanned tracking driving is carried out under the condition of no GPS or Beidou positioning.
In order to solve the technical problems, the invention adopts the technical scheme that:
an unmanned tracking driving method based on UWB array positioning navigation comprises the following steps:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
s2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
an unmanned tracking driving terminal based on UWB array positioning navigation, comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following steps:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
s2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
The invention has the beneficial effects that: this application establishes the location coordinate system through the UWB array that erects by a plurality of UWB basic stations, and pass through the location coordinate system gathers path track information and fixes a position the navigation to the vehicle, by the vehicle according to self location information in the location coordinate system along the path track travel, thereby accomplish unmanned tracking and drive, the use that has broken away from GPS and big dipper completely, can carry out unmanned tracking and drive under the condition that does not have GPS or big dipper location, and the UWB module is more economical and practical than the price of the orientation module of GPS or big dipper, can reduce the cost of unmanned vehicle.
Drawings
FIG. 1 is a flowchart of an unmanned tracking driving method based on UWB array positioning and navigation according to an embodiment of the present invention;
FIG. 2 is a block diagram of an unmanned tracking driving terminal based on UWB array positioning and navigation according to an embodiment of the present invention;
FIG. 3 is a coordinate display diagram of an unmanned tracking driving method based on UWB array positioning and navigation according to an embodiment of the present invention;
description of reference numerals:
1. an unmanned tracking driving terminal based on UWB array positioning navigation; 2. a processor; 3. a memory.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 and fig. 3, a method for unmanned tracking driving based on UWB array positioning navigation includes:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
s2, path track information which is pre-collected in the positioning coordinate system is obtained, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
From the above description, the beneficial effects of the present invention are: this application establishes the location coordinate system through the UWB array that erects by a plurality of UWB basic stations, and pass through the location coordinate system gathers path track information and fixes a position the navigation to the vehicle, by the vehicle according to self location information in the location coordinate system along the path track travel, thereby accomplish unmanned tracking and drive, the use that has broken away from GPS and big dipper completely, can carry out unmanned tracking and drive under the condition that does not have GPS or big dipper location, and the UWB module is more economical and practical than the price of the orientation module of GPS or big dipper, can reduce the cost of unmanned vehicle.
Further, the distance between two sequentially adjacent target positioning points is a preset distance, and the step S3 specifically includes:
s31, acquiring the next target positioning point from the path track information as a current target positioning point, and controlling a vehicle to drive to the current target positioning point according to the real-time positioning information;
and S32, when the distance between the vehicle and the current target positioning point is smaller than the preset distance, acquiring a next target positioning point located at the current target positioning point in the path track information as a new current target positioning point, and continuously controlling the vehicle to drive to the new current target positioning point until the next target positioning point does not exist, and finishing the unmanned tracking driving.
According to the description, the vehicle continuously selects and moves forward to the next target positioning point according to the ordered target positioning points in the path track information, so that the vehicle is controlled to travel along the track to complete unmanned tracking driving.
Furthermore, the real-time positioning information comprises a real-time coordinate and a course angle, and the course angle is an included angle formed by the current running direction of the vehicle and a Y axis in the positioning coordinate system;
the controlling the vehicle to travel to the current target positioning point according to the real-time positioning information specifically comprises:
acquiring the coordinates of the current target positioning point, calculating a target included angle between a vector of the real-time coordinates of the vehicle towards the coordinates of the current target positioning point and the positive direction of a Y axis, calculating an angle difference value of subtracting the target included angle from the heading angle, judging the angle difference value, controlling the vehicle to rotate to the right by the angle difference value if the angle difference value is negative, not needing to rotate if the angle difference value is 0, and otherwise, controlling the vehicle to rotate to the left by the angle difference value;
and after the vehicle finishes rotating, controlling the vehicle to drive to the current target positioning point.
According to the description, the course angle of the vehicle and the target included angle between the vector of the real-time coordinate of the vehicle towards the coordinate of the current target positioning point and the positive direction of the Y axis are calculated, and whether the vehicle needs to rotate to which direction by what angle or not is judged by calculating the difference value of the course angle and the vector, so that the automatic turning of the vehicle is realized.
Further, the preset distance is 5 meters.
As can be seen from the above description, the preset distance of 5 meters is taken as a specific embodiment of the present invention.
Further, the real-time positioning information includes a real-time coordinate and a course angle, and the step S1 specifically includes:
s11, establishing a positioning coordinate system of a preset area according to a preset UWB array, obtaining distances between a vehicle and the UWB base stations at preset time intervals, obtaining base station coordinates of four UWB base stations with the closest distances, selecting two base station coordinates with small vertical coordinates as a first base station coordinate and a second base station coordinate, wherein the horizontal coordinate of the first base station coordinate is smaller than that of the second base station coordinate, and calculating the real-time coordinate of the current position of the vehicle according to the coordinates of the first base station, the second base station coordinate, the first distance between the vehicle and the first base station and the second distance between the vehicle and the second base station;
and S12, calculating the course angle according to the real-time coordinate and the second coordinate of the position of the vehicle before the preset time interval.
According to the description, the vehicle is calculated in the UWB array through the coordinates of the four UWB base stations closest to each other and the distances between the vehicle and the four UWB base stations, so that the coordinates of the vehicle are obtained, the course angle of the vehicle is calculated according to the vehicle coordinates obtained twice, the calculation can be realized only by means of the UWB module, and the cost of the unmanned vehicle can be effectively reduced.
Referring to fig. 2, an unmanned tracking driving terminal based on UWB array positioning and navigation includes a processor, a memory, and a computer program stored in the memory and operable on the processor, where the processor executes the computer program to implement the following steps:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
s2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
From the above description, the beneficial effects of the present invention are: this application establishes the location coordinate system through the UWB array that erects by a plurality of UWB basic stations, and pass through the location coordinate system gathers path track information and fixes a position the navigation to the vehicle, by the vehicle according to self location information in the location coordinate system along the path track travel, thereby accomplish unmanned tracking driving, the use that has broken away from GPS and big dipper completely, can carry out unmanned tracking driving under the condition that does not have GPS or big dipper location, and the UWB module is more economical and practical than the price of GPS or big dipper's orientation module, can reduce unmanned vehicle's cost.
Further, the distance between two sequentially adjacent target positioning points is a preset distance, and the step S3 specifically includes:
s31, acquiring the next target positioning point from the path track information as a current target positioning point, and controlling a vehicle to drive to the current target positioning point according to the real-time positioning information;
and S32, when the distance between the vehicle and the current target positioning point is smaller than the preset distance, acquiring a next target positioning point located at the current target positioning point in the path track information as a new current target positioning point, and continuously controlling the vehicle to drive to the new current target positioning point until the next target positioning point does not exist, and finishing the unmanned tracking driving.
According to the description, the vehicle continuously selects and moves forward to the next target positioning point according to the ordered target positioning points in the path track information, so that the vehicle is controlled to travel along the track to complete unmanned tracking driving.
Furthermore, the real-time positioning information comprises a real-time coordinate and a course angle, and the course angle is an included angle formed by the current running direction of the vehicle and a Y axis in the positioning coordinate system;
the controlling the vehicle to travel to the current target positioning point according to the real-time positioning information specifically comprises:
acquiring the coordinates of the current target positioning point, calculating a target included angle between a vector of the real-time coordinates of the vehicle towards the coordinates of the current target positioning point and the positive direction of a Y axis, calculating an angle difference value of subtracting the target included angle from the heading angle, judging the angle difference value, controlling the vehicle to rotate to the right by the angle difference value if the angle difference value is negative, not needing to rotate if the angle difference value is 0, and otherwise, controlling the vehicle to rotate to the left by the angle difference value;
and after the vehicle finishes rotating, controlling the vehicle to drive to the current target positioning point.
According to the description, the course angle of the vehicle and the target included angle between the vector of the real-time coordinate of the vehicle towards the coordinate of the current target positioning point and the positive direction of the Y axis are calculated, and whether the vehicle needs to rotate to which direction by what angle or not is judged by calculating the difference value of the course angle and the vector, so that the automatic turning of the vehicle is realized.
Further, the preset distance is 5 meters.
From the above description, it can be seen that the preset distance is adjusted by the required tracking accuracy, and the preset distance is 5 meters as an embodiment of the present invention.
Further, the real-time positioning information includes a real-time coordinate and a course angle, and the step S1 specifically includes:
s11, establishing a positioning coordinate system of a preset area according to a preset UWB array, obtaining distances between a vehicle and the UWB base stations at preset time intervals, obtaining base station coordinates of four UWB base stations with the closest distances, selecting two base station coordinates with small vertical coordinates as a first base station coordinate and a second base station coordinate, wherein the horizontal coordinate of the first base station coordinate is smaller than that of the second base station coordinate, and calculating the real-time coordinate of the current position of the vehicle according to the coordinates of the first base station, the second base station coordinate, the first distance between the vehicle and the first base station and the second distance between the vehicle and the second base station;
and S12, calculating the course angle according to the real-time coordinate and a second coordinate of the position of the vehicle before the preset time interval.
According to the description, the vehicle is calculated in the UWB array through the coordinates of the four UWB base stations closest to the vehicle and the distances between the vehicle and the four UWB base stations, so that the coordinates of the vehicle are obtained, the course angle of the vehicle is calculated according to the vehicle coordinates obtained twice, the calculation can be realized only by means of the UWB module, and the cost of the unmanned vehicle can be effectively reduced.
Referring to fig. 1 and 3, a first embodiment of the present invention is:
an unmanned tracking driving method based on UWB array positioning navigation comprises the following steps:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
the real-time positioning information comprises a real-time coordinate and a course angle, the course angle is an included angle formed by the current running direction of the vehicle and a Y axis in the positioning coordinate system, and the step S1 specifically comprises the following steps:
s11, establishing the positioning coordinate system of a preset area according to a preset UWB array, obtaining the distance between a vehicle and each UWB base station at a preset time interval, obtaining the base station coordinates of four UWB base stations with the closest distance, selecting two base station coordinates with small ordinate as a first base station coordinate and a second base station coordinate, wherein the abscissa of the first base station coordinate is smaller than the abscissa of the second base station coordinate, and calculating the real-time coordinate of the current position of the vehicle according to the coordinates of the first base station, the second base station coordinate, the first distance between the vehicle and the first base station and the second distance between the vehicle and the second base station;
and S12, calculating the course angle according to the real-time coordinate and a second coordinate of the position of the vehicle before the preset time interval.
In this embodiment, as shown in fig. 3, coordinates of four base stations closest to the vehicle are (0, 0), (b, 0), and (b, b), and it is known that the vehicle is located in a rectangular area surrounded by the above four base stations, where (0, 0) is a first base station coordinate and (b, 0) is a second base station coordinate, and the formula is substituted according to a first distance a between the vehicle and the first base station coordinate, a second distance c between the vehicle and the second base station coordinate, and a third distance b between the first base station coordinate and the second base station coordinate:
p＝(a+b+c)/2；
S＝√[p*(p-a)*(p-b)*(p-c)]；
S＝h*b/2
a 2 ＝h 2 +t 2
further, it can be calculated that:
h＝2S/b；
t＝√(a 2 -h 2 )；
obtaining a horizontal coordinate difference t and a vertical coordinate difference h of the vehicle relative to the first base station coordinates (0, 0), wherein the first coordinates of the vehicle can be obtained as (t, h);
and the second coordinate before the preset time interval is (0, 0), so the vehicle travel vector Vc = (t, h), and Vy = (0, 1) are substituted into the formula:
θ＝arccos(Vc*Vy/(|Vc|*|Vy|)
available heading angle θ = arccos [ h/√ (h) 2 +t 2 )]＝arccos(h/a)。
S2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
s3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point;
the distance between two sequentially adjacent target positioning points is a preset distance, and the step S3 specifically includes:
s31, acquiring the next target positioning point from the path track information as a current target positioning point, and controlling a vehicle to drive to the current target positioning point according to the real-time positioning information;
s32, when the distance between the vehicle and the current target positioning point is smaller than the preset distance, acquiring a next target positioning point located at the current target positioning point in the path track information as a new current target positioning point, and continuously controlling the vehicle to drive to the new current target positioning point until the next target positioning point does not exist, so that the unmanned tracking driving is finished;
the controlling the vehicle to travel to the current target positioning point according to the real-time positioning information specifically comprises:
acquiring the coordinates of the current target positioning point, calculating a target included angle between a vector of the real-time coordinates of the vehicle towards the coordinates of the current target positioning point and the positive direction of a Y axis, calculating an angle difference value of subtracting the target included angle from the heading angle, judging the angle difference value, controlling the vehicle to rotate to the right by the angle difference value if the angle difference value is negative, not needing to rotate if the angle difference value is 0, and otherwise, controlling the vehicle to rotate to the left by the angle difference value;
and after the vehicle finishes rotating, controlling the vehicle to drive to the current target positioning point.
In this embodiment, as shown in fig. 3, the real-time coordinates of the vehicle are (t, h), the coordinates of the next target positioning point are (x _ t, Y _ t), and the distance from the previous target positioning point is 5 meters, at this time, a vector Vt = (x _ t-t, Y _ t-h) of the real-time coordinates of the vehicle to the coordinates of the current target positioning point is calculated, and a target included angle α = arccos (Vt = Vy/(| Vt | Vy |) between the vector Vt and the positive Y-axis direction Vy = (0, 1) is calculated;
in the embodiment, the target included angle alpha is larger than the course angle theta, so that the difference between the course angle and the target included angle is negative, the vehicle can rotate by theta-alpha, and then the vehicle is controlled to run to the current target positioning point.
And when the distance between the vehicle and the (x _ t, y _ t) is less than 5 meters, acquiring the coordinates of the next target positioning point as a new current target positioning point, and performing the calculation in the above steps so as to control the vehicle to travel.
In this embodiment, the predetermined distance is 5 meters, and in other equivalent embodiments, the predetermined distance may be adjusted according to the required tracking accuracy.
Referring to fig. 2, the second embodiment of the present invention is:
an unmanned tracking driving terminal 1 based on UWB array positioning and navigation comprises a processor 2, a memory 3 and a computer program stored on the memory 3 and capable of running on the processor 2, wherein the processor 2 realizes the steps in the first embodiment when executing the computer program.
In summary, according to the unmanned tracking driving method and the terminal based on UWB array positioning navigation provided by the invention, the positioning coordinate system is established by the UWB arrays erected by the UWB base stations, the path track information is acquired by the positioning coordinate system and the vehicle is positioned and navigated, and the vehicle travels along the path track according to the positioning information of the vehicle in the positioning coordinate system, so that the unmanned tracking driving is completed, the use of the GPS and the beidou is completely eliminated, the unmanned tracking driving can be performed without GPS or beidou positioning, and the UWB module is more economical and practical than the positioning module of the GPS or the beidou, and the cost of the unmanned vehicle can be reduced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (8)
1. An unmanned tracking driving method based on UWB array positioning navigation is characterized by comprising the following steps:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
the real-time positioning information comprises a real-time coordinate and a course angle, and the step S1 specifically comprises the following steps:
s11, establishing the positioning coordinate system of a preset area according to a preset UWB array, obtaining the distance between a vehicle and each UWB base station at a preset time interval, obtaining the base station coordinates of four UWB base stations with the closest distance, selecting two base station coordinates with small ordinate as a first base station coordinate and a second base station coordinate, wherein the abscissa of the first base station coordinate is smaller than the abscissa of the second base station coordinate, and calculating the real-time coordinate of the current position of the vehicle according to the coordinates of the first base station, the second base station coordinate, the first distance between the vehicle and the first base station and the second distance between the vehicle and the second base station;
s12, calculating the course angle according to the real-time coordinate and a second coordinate of the position of the vehicle before the preset time interval;
s2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
2. The unmanned tracking driving method based on UWB array positioning and navigation of claim 1, wherein the distance between two successively adjacent target positioning points is a preset distance, and the step S3 specifically comprises:
s31, acquiring the next target positioning point from the path track information as a current target positioning point, and controlling a vehicle to drive to the current target positioning point according to the real-time positioning information;
and S32, when the distance between the vehicle and the current target positioning point is smaller than the preset distance, acquiring a next target positioning point located at the current target positioning point in the path track information as a new current target positioning point, and continuously controlling the vehicle to drive to the new current target positioning point until the next target positioning point does not exist, and finishing the unmanned tracking driving.
3. The unmanned tracking driving method based on UWB array positioning and navigation as claimed in claim 2, wherein the real-time positioning information includes real-time coordinates and a heading angle, the heading angle is an included angle formed by the current driving direction of the vehicle and the Y axis in the positioning coordinate system;
the step of controlling the vehicle to drive to the current target positioning point according to the real-time positioning information specifically comprises the following steps:
acquiring the coordinates of the current target positioning point, calculating a target included angle between a vector of the real-time coordinates of the vehicle towards the coordinates of the current target positioning point and the positive direction of a Y axis, calculating an angle difference value of subtracting the target included angle from the heading angle, judging the angle difference value, controlling the vehicle to rotate to the right by the angle difference value if the angle difference value is negative, not needing to rotate if the angle difference value is 0, and otherwise, controlling the vehicle to rotate to the left by the angle difference value;
and after the vehicle finishes rotating, controlling the vehicle to drive to the current target positioning point.
4. The unmanned tracking driving method based on UWB array positioning and navigation according to claim 2, wherein the preset distance is 5 meters.
5. An unmanned tracking driving terminal based on UWB array positioning navigation, comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, characterized in that the processor implements the following steps when executing the computer program:
the method comprises the following steps of S1, establishing a positioning coordinate system of a preset area according to a preset UWB array, and acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations;
the real-time positioning information comprises a real-time coordinate and a course angle, and the step S1 specifically comprises the following steps:
s11, establishing a positioning coordinate system of a preset area according to a preset UWB array, obtaining distances between a vehicle and the UWB base stations at preset time intervals, obtaining base station coordinates of four UWB base stations with the closest distances, selecting two base station coordinates with small vertical coordinates as a first base station coordinate and a second base station coordinate, wherein the horizontal coordinate of the first base station coordinate is smaller than that of the second base station coordinate, and calculating the real-time coordinate of the current position of the vehicle according to the coordinates of the first base station, the second base station coordinate, the first distance between the vehicle and the first base station and the second distance between the vehicle and the second base station;
s12, calculating the course angle according to the real-time coordinate and a second coordinate of the position of the vehicle before the preset time interval;
s2, acquiring path track information which is acquired in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points;
and S3, controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point.
6. The unmanned tracking driving terminal based on UWB array positioning and navigation of claim 5, wherein the distance between two successively adjacent target positioning points is a preset distance, the step S3 is specifically:
s31, acquiring the next target positioning point from the path track information as a current target positioning point, and controlling a vehicle to drive to the current target positioning point according to the real-time positioning information;
and S32, when the distance between the vehicle and the current target positioning point is smaller than the preset distance, acquiring a next target positioning point located at the current target positioning point in the path track information as a new current target positioning point, and continuously controlling the vehicle to drive to the new current target positioning point until the next target positioning point does not exist, thus finishing the unmanned tracking driving.
7. The unmanned tracking driving terminal based on UWB array positioning and navigation of claim 6, wherein the real-time positioning information includes real-time coordinates and a heading angle, the heading angle is an included angle formed by the current driving direction of the vehicle and the Y axis in the positioning coordinate system;
the controlling the vehicle to travel to the current target positioning point according to the real-time positioning information specifically comprises:
acquiring the coordinates of the current target positioning point, calculating a target included angle between a vector of the real-time coordinates of the vehicle towards the coordinates of the current target positioning point and the positive direction of a Y axis, calculating an angle difference value of subtracting the target included angle from the heading angle, judging the angle difference value, controlling the vehicle to rotate to the right by the angle difference value if the angle difference value is negative, not needing to rotate if the angle difference value is 0, and otherwise, controlling the vehicle to rotate to the left by the angle difference value;
and after the vehicle finishes rotating, controlling the vehicle to drive to the current target positioning point.
8. The UWB array positioning and navigation-based unmanned tracking driving terminal of claim 6, wherein the preset distance is 5 meters.
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| CN202110562527.3A CN113271547B (en) | 2021-05-24 | 2021-05-24 | Unmanned tracking driving method and terminal based on UWB array positioning navigation |
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