CN113655438A - System and method for sensing initial position of unmanned vehicle in weak signal scene - Google Patents
System and method for sensing initial position of unmanned vehicle in weak signal scene Download PDFInfo
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- CN113655438A CN113655438A CN202110916874.1A CN202110916874A CN113655438A CN 113655438 A CN113655438 A CN 113655438A CN 202110916874 A CN202110916874 A CN 202110916874A CN 113655438 A CN113655438 A CN 113655438A
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- positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
Abstract
The invention provides a system for sensing an initial position of an unmanned vehicle in a weak signal scene, which comprises two positioning labels arranged on the unmanned vehicle and three positioning base stations arranged in the weak signal scene, wherein the two positioning labels comprise a label I and a label II, the three positioning base stations comprise a base station I, a base station II and a base station III, and the unmanned vehicle is also provided with a central control system for sending and receiving data to the positioning labels. The distance between the vehicle positioning tag and the positioning base station is measured, so that the initial positioning of the unmanned vehicle under a weak signal scene is realized, the self-perception of the initial position of the vehicle can be realized without a GPS positioning signal, and the system has multiple application scenes and wide application.
Description
Technical Field
The invention relates to the technical field of unmanned vehicle positioning, in particular to a system and a method for sensing an initial position of an unmanned vehicle in a weak signal scene.
Background
In remote mountainous areas, underground garages, building interiors and other areas, due to the fact that satellite navigation signals are weak, the unmanned internet connection vehicle cannot sense the position of the unmanned internet connection vehicle, and therefore the vehicle cannot run.
Disclosure of Invention
In order to solve the problems, the invention discloses a system and a method for sensing an initial position of an unmanned vehicle in a weak signal scene, which meet the positioning requirement of the unmanned vehicle in the weak signal scene.
The specific scheme is as follows:
the system for sensing the initial position of the unmanned vehicle in the weak signal scene is characterized by comprising two positioning labels arranged on the unmanned vehicle and three positioning base stations arranged in the weak signal scene, wherein the two positioning labels comprise a label I and a label II, the three positioning base stations comprise a base station I, a base station II and a base station III, and the unmanned vehicle is further provided with a central control system used for sending and receiving data to the positioning labels.
The method for sensing the initial position of the unmanned vehicle in the weak signal scene is characterized in that the system for sensing the initial position of the unmanned vehicle in the weak signal scene, as claimed in claim 1, is adopted, and comprises the following specific steps:
step 1, a central control system starts to operate;
step 2, the central control system sends a data request to the tag;
step 3, waiting for the distance between the first label and the three positioning base stations;
step 5, the central control system sends a data request to the tag II;
step 6, waiting for the distance between the second label and the three positioning base stations;
step 7, if returning exists, performing step 8, and if not, performing step 5;
and 8, calculating the direction of the vehicle head.
As a further improvement of the invention, the processing steps of the positioning label are as follows:
step (1), electrifying a positioning label to start running;
step (2), waiting for a data request of a central control system;
step (3), if there is a request, performing step (4), and if there is no request, performing step (2);
step (4), measuring and calculating the distance between the positioning tag and the first base station;
step (5), measuring and calculating the distance between the positioning tag and the second base station;
step (6), measuring and calculating the distance between the positioning tag and the third base station;
step (7), returning the distances between the positioning tag and the three positioning base stations to the central control system;
and (8) returning to the step (2).
As a further improvement of the present invention, the distance measuring and calculating steps between the positioning tag and the positioning base station are as follows:
firstly, the positioning label sends a message 1 to a positioning base station, and records the local TIME TAG _ TIME1 of the positioning label when the message 1 is sent;
step two, the positioning base station receives the message 1 of the positioning label and records the local TIME STA _ TIME1 of the positioning base station when the positioning base station receives the message 1, and the propagation TIME of the message 1 is T1;
step three, the positioning base station returns a message 2 to the positioning tag, and records the local TIME STA _ TIME2 of the positioning base station when the message 2 is sent, at this TIME, the content of the message 2 comprises STA _ TIME1 and STA _ TIME 2;
fourthly, the positioning label receives the message 2 of the positioning base station, and records the local time TAG _ TIM2 of the positioning label when the positioning label receives the message 2, wherein the propagation time of the message 2 is T2;
fifthly, the positioning label sends a message 3 to the positioning base station, and records the local TIME TAG _ TIME3 of the positioning label when the message 3 is sent;
sixthly, the positioning base station receives the message 3 of the positioning label and records the local TIME STA _ TIME3 of the positioning base station when the positioning base station receives the message 3, and the propagation TIME of the message 3 is T3;
step seventhly, the positioning base station returns a message 4 to the positioning tag, and records the local TIME STA _ TIME4 of the positioning base station when the message 4 is sent, wherein the content of the message 4 comprises STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME 4;
step III, the positioning label receives the message 4 of the positioning base station, and records the local time TAG _ TIM4 of the positioning label when the positioning label receives the message 4, and the propagation time of the message 4 is T4;
step ninthly, the positioning TAG reads TAG _ TIME1, TAG _ TIME2, TAG _ TIME3 and TAG _ TIME4 recorded locally by the positioning TAG, and STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME4 returned by the message 4, 8 TIME data are counted, and according to the calculated flying TIME T of the final message, T = ((TAG _ TIME2-TAG _ TIME 1) - (STA _ TIME2-STA _ TIME 1) + (TAG _ TIME4-TAG _ TIME 3) - (STA _ TIME4-STA _ TIME 3))/4, since the speed of the message propagation is the speed of light, the distance S is calculated by the flying TIME and the speed of light, S = VLight (es)And T, calculating the heading and the initial position of the locomotive when the two labels return to the distances between the three base stations respectively.
The invention has the beneficial effects that: the distance between the vehicle positioning tag and the positioning base station is measured, so that the initial positioning of the unmanned vehicle under a weak signal scene is realized, the self-perception of the initial position of the vehicle can be realized without a GPS positioning signal, and the system has multiple application scenes and wide application.
Drawings
FIG. 1 is an overall flow chart of the present invention.
Fig. 2 is a flow chart of the process of locating a tag in the present invention.
Fig. 3 is a schematic diagram of distance measurement between a positioning tag and a positioning base station according to the present invention.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
As shown in the figure, the system for sensing the initial position of the unmanned vehicle in the weak signal scene comprises two positioning tags arranged on the unmanned vehicle and three positioning base stations arranged in the weak signal scene, wherein the two positioning tags comprise a tag I and a tag II, the three positioning base stations comprise a base station I, a base station II and a base station III, and the unmanned vehicle is further provided with a central control system used for sending and receiving data to the positioning tags.
The method for sensing the initial position of the unmanned vehicle in the weak signal scene comprises the following specific steps:
step 1, a central control system starts to operate;
step 2, the central control system sends a data request to the tag;
step 3, waiting for the distance between the first label and the three positioning base stations;
step 5, the central control system sends a data request to the tag II;
step 6, waiting for the distance between the second label and the three positioning base stations;
step 7, if returning exists, performing step 8, and if not, performing step 5;
and 8, calculating the direction of the vehicle head.
In this embodiment, the processing steps of the positioning tag are as follows:
step (1), electrifying a positioning label to start running;
step (2), waiting for a data request of a central control system;
step (3), if there is a request, performing step (4), and if there is no request, performing step (2);
step (4), measuring and calculating the distance between the positioning tag and the first base station;
step (5), measuring and calculating the distance between the positioning tag and the second base station;
step (6), measuring and calculating the distance between the positioning tag and the third base station;
step (7), returning the distances between the positioning tag and the three positioning base stations to the central control system;
and (8) returning to the step (2).
In this embodiment, the step of measuring the distance between the positioning tag and the positioning base station is as follows:
firstly, the positioning label sends a message 1 to a positioning base station, and records the local TIME TAG _ TIME1 of the positioning label when the message 1 is sent;
step two, the positioning base station receives the message 1 of the positioning label and records the local TIME STA _ TIME1 of the positioning base station when the positioning base station receives the message 1, and the propagation TIME of the message 1 is T1;
step three, the positioning base station returns a message 2 to the positioning tag, and records the local TIME STA _ TIME2 of the positioning base station when the message 2 is sent, at this TIME, the content of the message 2 comprises STA _ TIME1 and STA _ TIME 2;
fourthly, the positioning label receives the message 2 of the positioning base station, and records the local time TAG _ TIM2 of the positioning label when the positioning label receives the message 2, wherein the propagation time of the message 2 is T2;
fifthly, the positioning label sends a message 3 to the positioning base station, and records the local TIME TAG _ TIME3 of the positioning label when the message 3 is sent;
sixthly, the positioning base station receives the message 3 of the positioning label and records the local TIME STA _ TIME3 of the positioning base station when the positioning base station receives the message 3, and the propagation TIME of the message 3 is T3;
step seventhly, the positioning base station returns a message 4 to the positioning tag, and records the local TIME STA _ TIME4 of the positioning base station when the message 4 is sent, wherein the content of the message 4 comprises STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME 4;
step III, the positioning label receives the message 4 of the positioning base station, and records the local time TAG _ TIM4 of the positioning label when the positioning label receives the message 4, and the propagation time of the message 4 is T4;
step ninthly, the positioning TAG reads TAG _ TIME1, TAG _ TIME2, TAG _ TIME3 and TAG _ TIME4 recorded locally by the positioning TAG, and STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME4 returned by the message 4, 8 TIME data are counted, and according to the calculated flying TIME T of the final message, T = ((TAG _ TIME2-TAG _ TIME 1) - (STA _ TIME2-STA _ TIME 1) + (TAG _ TIME4-TAG _ TIME 3) - (STA _ TIME4-STA _ TIME 3))/4, since the speed of the message propagation is the speed of light, the distance S is calculated by the flying TIME and the speed of light, S = VLight (es)T, wait for two marksAnd respectively returning the distance between the tag and the three base stations, and calculating the heading and the initial position of the locomotive.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (4)
1. The system for sensing the initial position of the unmanned vehicle in the weak signal scene is characterized by comprising two positioning labels arranged on the unmanned vehicle and three positioning base stations arranged in the weak signal scene, wherein the two positioning labels comprise a label I and a label II, the three positioning base stations comprise a base station I, a base station II and a base station III, and the unmanned vehicle is further provided with a central control system used for sending and receiving data to the positioning labels.
2. The method for sensing the initial position of the unmanned vehicle in the weak signal scene is characterized in that the system for sensing the initial position of the unmanned vehicle in the weak signal scene, as claimed in claim 1, is adopted, and comprises the following specific steps:
step 1, a central control system starts to operate;
step 2, the central control system sends a data request to the tag;
step 3, waiting for the distance between the first label and the three positioning base stations;
step 4, if returning exists, performing step 5, and if not, performing step 2;
step 5, the central control system sends a data request to the tag II;
step 6, waiting for the distance between the second label and the three positioning base stations;
step 7, if returning exists, performing step 8, and if not, performing step 5;
and 8, calculating the direction of the vehicle head.
3. The method for the unmanned vehicle to perceive the initial position in the weak signal scene as claimed in claim 2, wherein the processing steps of the positioning tag are as follows:
step (1), electrifying a positioning label to start running;
step (2), waiting for a data request of a central control system;
step (3), if there is a request, performing step (4), and if there is no request, performing step (2);
step (4), measuring and calculating the distance between the positioning tag and the first base station;
step (5), measuring and calculating the distance between the positioning tag and the second base station;
step (6), measuring and calculating the distance between the positioning tag and the third base station;
step (7), returning the distances between the positioning tag and the three positioning base stations to the central control system;
and (8) returning to the step (2).
4. The method for sensing the initial position of the unmanned vehicle in the weak signal scene as claimed in claim 2, wherein the step of measuring and calculating the distance between the positioning tag and the positioning base station is as follows:
firstly, the positioning label sends a message 1 to a positioning base station, and records the local TIME TAG _ TIME1 of the positioning label when the message 1 is sent;
step two, the positioning base station receives the message 1 of the positioning label and records the local TIME STA _ TIME1 of the positioning base station when the positioning base station receives the message 1, and the propagation TIME of the message 1 is T1;
step three, the positioning base station returns a message 2 to the positioning tag, and records the local TIME STA _ TIME2 of the positioning base station when the message 2 is sent, at this TIME, the content of the message 2 comprises STA _ TIME1 and STA _ TIME 2;
fourthly, the positioning label receives the message 2 of the positioning base station, and records the local time TAG _ TIM2 of the positioning label when the positioning label receives the message 2, wherein the propagation time of the message 2 is T2;
fifthly, the positioning label sends a message 3 to the positioning base station, and records the local TIME TAG _ TIME3 of the positioning label when the message 3 is sent;
sixthly, the positioning base station receives the message 3 of the positioning label and records the local TIME STA _ TIME3 of the positioning base station when the positioning base station receives the message 3, and the propagation TIME of the message 3 is T3;
step seventhly, the positioning base station returns a message 4 to the positioning tag, and records the local TIME STA _ TIME4 of the positioning base station when the message 4 is sent, wherein the content of the message 4 comprises STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME 4;
step III, the positioning label receives the message 4 of the positioning base station, and records the local time TAG _ TIM4 of the positioning label when the positioning label receives the message 4, and the propagation time of the message 4 is T4;
step ninthly, the positioning TAG reads TAG _ TIME1, TAG _ TIME2, TAG _ TIME3 and TAG _ TIME4 recorded locally by the positioning TAG, and STA _ TIME1, STA _ TIME2, STA _ TIME3 and STA _ TIME4 returned by the message 4, 8 TIME data are counted, and according to the calculated flying TIME T of the final message, T = ((TAG _ TIME2-TAG _ TIME 1) - (STA _ TIME2-STA _ TIME 1) + (TAG _ TIME4-TAG _ TIME 3) - (STA _ TIME4-STA _ TIME 3))/4, since the speed of the message propagation is the speed of light, the distance S is calculated by the flying TIME and the speed of light, S = VLight (es)And T, calculating the heading and the initial position of the locomotive when the two labels return to the distances between the three base stations respectively.
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| CN213689923U (en) * | 2020-11-16 | 2021-07-13 | 济南大学 | AGV location navigation head based on UWB |
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2021
- 2021-08-11 CN CN202110916874.1A patent/CN113655438A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270814A (en) * | 2014-09-30 | 2015-01-07 | 南京沃旭通讯科技有限公司 | Locating method and system based on mixed TDOA and ToF |
| CN111372185A (en) * | 2018-12-25 | 2020-07-03 | 深圳市优必选科技有限公司 | Wireless positioning method and device |
| CN109788551A (en) * | 2019-02-26 | 2019-05-21 | 重庆邮电大学 | A kind of three-dimensional indoor locating system and method |
| CN112346008A (en) * | 2020-11-16 | 2021-02-09 | 济南大学 | AGV positioning navigation method and system device based on UWB |
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