CN114095868B - Tarmac self-binding unpowered equipment dead reckoning method based on time information - Google Patents

Tarmac self-binding unpowered equipment dead reckoning method based on time information Download PDF

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CN114095868B
CN114095868B CN202111421616.2A CN202111421616A CN114095868B CN 114095868 B CN114095868 B CN 114095868B CN 202111421616 A CN202111421616 A CN 202111421616A CN 114095868 B CN114095868 B CN 114095868B
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unpowered
coordinate
time
equipment
power equipment
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CN114095868A (en
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刘易聪
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Chengdu Yaota Technology Co ltd
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Chengdu Yaota Technology Co ltd
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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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a time information-based tarmac self-binding unpowered equipment positioning calculation method, which comprises the following steps: recording coordinates corresponding to points at different moments on the running track of the power equipment to obtain a coordinate table F; at time t 1 The time t at which the 1 st coordinate of the unpowered device corresponds to the running track of all the powered devices 2 The method comprises the steps of carrying out a first treatment on the surface of the Obtaining t based on a coordinate table 2 Corresponding coordinate P 2 The method comprises the steps of carrying out a first treatment on the surface of the And so on at time t 1 The time t of the nth power-free equipment coordinate corresponding to the running track of all the power equipment is n+1 The method comprises the steps of carrying out a first treatment on the surface of the Obtaining t based on the coordinate table n+1 Corresponding coordinate P n+1 According to the invention, the positioning of the unpowered equipment is realized through the calculation of the coordinates and the track of the powered equipment, the traditional independent positioning and communication modes of each unpowered equipment are replaced, and the cost and the energy consumption are reduced.

Description

Tarmac self-binding unpowered equipment dead reckoning method based on time information
Technical Field
The invention relates to the field of intelligent positioning, in particular to a tarmac self-binding unpowered equipment positioning calculation method based on time information.
Background
The airport has strict parking and operation management on various unpowered devices, and in order to obtain position information of the unpowered devices, a positioning module is usually installed on each unpowered device. The positioning of the common unpowered equipment has the following defects: the RFID tag is positioned, no moving track exists, and card readers cannot be deployed in most places on the apron; GPS positioning of the ultra-large capacity battery has no running track, and the working time of the battery is prolonged by limiting the reporting times of coordinates; the GPS positioning of the solar rechargeable battery has more limitations on environment, climate and clean maintenance, is easy to collide and damage, and has more practical use problems; in the video monitoring mode, no digital coordinate track record exists, the identity information of the object cannot be determined, and the influence of climate environment, shielding of moving objects and the like is easy to cause. Therefore, the prior art can not well solve the problem of positioning unpowered equipment.
Disclosure of Invention
In order to realize the positioning of unpowered equipment, the invention provides a time information-based tarmac self-binding unpowered equipment positioning calculation method.
The method is applied to the mobile process positioning of n unpowered devices carried by a powered device, wherein n unpowered devices are sequentially connected, the 1 st unpowered device is connected with the powered device, and n is an integer greater than or equal to 1.
The method specifically comprises the following steps:
acquiring a running track of the power equipment, recording coordinates corresponding to each moment t on the running track, and acquiring a coordinate table F;
e represents a device, wherein P 1 (x 1 ,y 1 ,z 1 ) Representing the powered equipment E at time t 1 Coordinates of particles P 2 (x 2 ,y 2 ,z 2 ) Represents the 1 st unpowered device E for the time t 2 The coordinates of the particles of (c.). P n+1 (x n+1 ,y n+1 ,z n+1 ) Represents the nth unpowered device E for the time t n+1 Is a particle coordinate of (2);
obtaining P when n unpowered devices are connected in series in a straight line n+1 And P n Straight line distance, P 1 And P 2 The straight line distance between them is M 1 ，......，P n And P n+1 The straight line distance between them is M n ；
Obtaining the running speed of the powered device at each time t 1 The running speed of the powered equipment is v 1 ,... time t n The running speed of the powered equipment is v n ；
Taking the x-axis direction coordinate of the power equipment as a transverse axis, the y-axis direction coordinate of the power equipment as a longitudinal axis, and the z-axis direction coordinate of the power equipment as a vertical axis, and constructing a coordinate system;
at time t 1 The sum ofThe powered equipment E 1 The coordinate of (C) is P 1 (x 1 ,y 1 ,z 1 ) At a running rate v 1 The powered equipment E 1 And the 1 st unpowered equipment E 2 The path difference on the track is L 1 ,...the unpowered apparatus E n And the unpowered equipment E n+1 The path difference on the track is L n The method comprises the steps of carrying out a first treatment on the surface of the At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 ,... the nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 ；
At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t 1 Said L 1 And said v 1 Calculating to obtain the t 2 Obtaining the t based on the coordinate table F 2 Corresponding 1 st said unpowered device E 2 The coordinate P of (2) 2 (x 2 ,y 2 ,z 2 )；
......
At time t 1 The nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t n Said L n And said v 1 Calculating to obtain the t n+1 Obtaining the t based on the coordinate table F n+1 Corresponding nth said unpowered device E n+1 The coordinate P of (2) n+1 (x n+1 ,y n+1 ,z n+1 )。
The principle of the method is that the coordinate table of the moment and the positioning coordinates is obtained based on the running track of the power equipment by obtaining the running track of the power equipment, then the moment of the coordinates of each unpowered equipment corresponding to the running track of the power equipment is respectively obtained, and the corresponding coordinate information can be obtained by inquiring the coordinate table through the moment, so that the positioning is realized; according to the method, the positioning information of the unpowered equipment is obtained through calculation of the coordinates and the tracks of the powered equipment, so that the traditional independent positioning and communication modes of each unpowered equipment are replaced, and the method can be suitable for actual application requirements.
The method can be realized by a powered device E 1 The coordinate P of (2) 1 And time t 1 、M n The unpowered equipment E is calculated step by a track coordinate table F n+1 The coordinate P of (2) n+1 And time t n+1 。
Preferably, the 1 st unpowered device E in the method 2 Time t of (2) 2 The calculation mode of (a) is as follows:
Δt 1 ＝t 1 -t 2 ；
L 1 ＝a 1 *M 1 ；
v' 1 ＝b 1 *v 1 ；
Δt 1 ＝L 1 /v' 1 ＝(a 1 *M 1 )/(b 1 *v 1 )；
t 2 ＝t 1 -Δt 1 ；
t 2 ＝t 1 -L 1 /v' 1 ＝t 1 -(a 1 *M 1 )/(b 1 *v 1 )；
from t 2 Querying the coordinate table F to obtain the 1 st unpowered device E 2 The coordinate P of (2) 2 ；
Wherein Δt is 1 At t 1 And t 2 Time difference, t 1 ≧t 2 ；
M 1 Is based on M 1 Calculating to obtain L 1 The calculation formula is L 1 ＝a 1 *M 1 Wherein a is 1 As a proportionality coefficient, when M 1 Sufficiently small, within the allowable error range, L 1 And M is as follows 1 Approximately equal at a 1 =1, and can be applied to a according to the accuracy requirement of practical application 1 The value of (2) is adjusted;
v 1 it is known that when Δt 1 Sufficiently small to be within the allowable error rangeIn the enclosure, at this time, the power equipment E 1 Path L on track 1 The uniform motion is approximate in the range, and the uniform motion rate is v' 1 The calculation formula is v' 1 ＝b 1 *v 1 Wherein b 1 As a proportionality coefficient, b 1 When=1, v' 1 ＝v 1 And according to the precision requirement of practical application, the method is suitable for the following step 1 And the value of (2) is adjusted.
Preferably, the nth unpowered device E in the method n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
Δt n ＝t n -t n+1 ；
L n ＝a n *M n ；
v' n ＝b n *v n ；
Δt n ＝L n /v' n ＝(a n *M n )/(b n *v n )；
t n+1 ＝t n -Δt n ；
t n+1 ＝t n -L n /v' n ＝t n -(a n *M n )/(b n *v n )；
from t n+1 Querying the coordinate table F to obtain the nth unpowered device E n+1 The coordinate P of (2) n+1 ；
Wherein Δt is n At t n And t n+1 Time difference, t n ≧t n+1 ；
M n Is based on M n Calculating to obtain L n The calculation formula is L n ＝a n *M n Wherein a is n As a proportionality coefficient, when M n Sufficiently small, within the allowable error range, L n And M is as follows n Approximately equal at a n =1, and can be applied to a according to the accuracy requirement of practical application n The value of (2) is adjusted;
v n it is known that when Δt n Sufficiently small, within the allowable error range,at this time the powered device E 1 Path L on track n The uniform motion is approximate in the range, and the uniform motion rate is v' n The calculation formula is v' n ＝b n *v n Wherein b n As a proportionality coefficient, b n When=1, v' n ＝v n And according to the precision requirement of practical application, the method is suitable for the following step n And the value of (2) is adjusted.
Preferably, the nth unpowered device E in the method n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
......
from t n+1 Querying the coordinate table F to obtain the nth unpowered device E n+1 The coordinate P of (2) n+1 ；
When the error is acceptable, take a 1 ＝a 2 ......＝a n ＝1，b 1 ＝b 2 ......＝b n ＝1，M 1 ＝M 2 ......＝M n And v 1 ＝v 2 ......＝v n The nth unpowered device E n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
wherein n is an integer and 1+.n+.k, k is an integer greater than or equal to 1; t is t 1 T is known to be 1 ≧t n+1 ，M 1 ，......，M n Is known, and v 1 ，......，v n Is known.
In the method, the length of the equipment is a known quantity, the connection distance between the front and back of the equipment is a known quantity, and the identity information of the equipment is a known quantity.
In the method, the arrangement order of n pieces of the equipment is a known quantity.
Preferably, the unpowered device in the method is a flat trailer or a roller. In practical application, the device may be other unpowered devices or movable carriers in an airport, and the invention is not limited specifically.
The one or more technical schemes provided by the invention have at least the following technical effects or advantages:
according to the invention, the positioning of the unpowered equipment is realized through the calculation of the coordinates and the track of the powered equipment, the traditional independent positioning and communication modes of each unpowered equipment are replaced, and the cost and the energy consumption are reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;
FIG. 1 is a schematic diagram of the connection relationship of devices in the present invention;
fig. 2 is a schematic diagram of the dead reckoning method of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other without collision.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than within the scope of the description, and the scope of the invention is therefore not limited to the specific embodiments disclosed below.
Example 1
Referring to fig. 1-2, a method for dead reckoning an apron self-binding unpowered device based on time information is provided in an embodiment of the present invention, where the method is applied to a powered device carrying n unpowered device moving processes for positioning, n unpowered devices are sequentially connected, the 1 st unpowered device is connected with the powered device, and n is an integer greater than or equal to 1, and the method includes:
acquiring a running track of the power equipment, recording coordinates corresponding to each moment t on the running track, and acquiring a coordinate table F;
e represents a device, wherein P 1 (x 1 ,y 1 ,z 1 ) Representing the powered equipment E at time t 1 Coordinates of particles P 2 (x 2 ,y 2 ,z 2 ) Represents the 1 st unpowered device E for the time t 2 The coordinates of the particles of (c.). P n+1 (x n+1 ,y n+1 ,z n+1 ) Represents the nth unpowered device E for the time t n+1 Is a particle coordinate of (2);
obtaining P when n unpowered devices are connected in series in a straight line n+1 And P n Straight line distance, P 1 And P 2 The straight line distance between them is M 1 ，......，P n And P n+1 The straight line distance between them is M n ；
Obtaining the running speed of the powered device at each time t 1 The running speed of the powered equipment is v 1 ,... time t n The running speed of the powered equipment is v n ；
Taking the x-axis direction coordinate of the power equipment as a transverse axis, the y-axis direction coordinate of the power equipment as a longitudinal axis, and the z-axis direction coordinate of the power equipment as a vertical axis, and constructing a coordinate system;
at time t 1 The powered equipment E 1 The coordinate of (C) is P 1 (x 1 ,y 1 ,z 1 ) At a running rate v 1 The powered equipment E 1 And the 1 st said unpoweredEquipment E 2 The path difference on the track is L 1 ,...the unpowered apparatus E n And the unpowered equipment E n+1 The path difference on the track is L n The method comprises the steps of carrying out a first treatment on the surface of the At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 ,... the nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 ；
At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t 1 Said L 1 And said v 1 Calculating to obtain the t 2 Obtaining the t based on the coordinate table F 2 Corresponding 1 st said unpowered device E 2 The coordinate P of (2) 2 (x 2 ,y 2 ,z 2 )；
......
At time t 1 The nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t n Said L n And said v 1 Calculating to obtain the t n+1 Obtaining the t based on the coordinate table F n+1 Corresponding nth said unpowered device E n+1 The coordinate P of (2) n+1 (x n+1 ,y n+1 ,z n+1 )。
The method can be realized by a powered device E 1 The coordinate P of (2) 1 And time t 1 、M n The unpowered equipment E is calculated step by a track coordinate table F n+1 The coordinate P of (2) n+1 And time t n+1 。
The number of unpowered devices in practical application can be adjusted according to practical needs, and the invention is not particularly limited.
In this embodiment, the airport unpowered devices are self-binding and positioning, and are suitable for apron powered devices and unpowered devices (such as a flatbed trailer/trailer, a large/small roller and the like).
The coordinate calculation process in the method comprises the following steps:
aiming at the problem of acquiring the coordinates of the unpowered equipment in the self-binding positioning, the self-binding positioning coordinate reckoning method of the unpowered equipment in the airport is provided.
Tarmac self-binding unpowered device dead reckoning algorithm description based on time information:
powered equipment E 1 The travel process of (2) forms a track G, coordinates P (x, y, z) corresponding to points at different moments on the travel track are recorded, and a coordinate table F (t, P (x, y, z)) is formed.
At time t 1 The powered equipment E 1 The coordinate of (C) is P 1 (x 1 ,y 1 ,z 1 ) At a running rate v 1 (wherein P 1 (x 1 ,y 1 ,z 1 ) And v 1 All of known quantity, obtained in real time by a positioning module), said powered device E 1 And the 1 st unpowered equipment E 2 The path difference on the track is L 1 ,...the unpowered apparatus E n And the unpowered equipment E n+1 The path difference on the track is L n The method comprises the steps of carrying out a first treatment on the surface of the At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 ,... the nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 ；
The driving track of the powered device connected with the unpowered device is shown in fig. 2.
(1) At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 The coordinate is P 2 (x 2 ,y 2 ,z 2 ) Wherein the 1 st said unpowered device E 2 And the powered equipment E 1 The path difference on the track is L 1 ，Δt 1 At t 1 And t 2 Time difference, t 1 ≧t 2 ；
M 1 It is known that,based on M 1 Calculating to obtain L 1 The calculation formula is L 1 ＝a 1 *M 1 Wherein a is 1 As a proportionality coefficient, when M 1 Sufficiently small, within the allowable error range, L 1 And M is as follows 1 Approximately equal at a 1 =1, and can be applied to a according to the accuracy requirement of practical application 1 The value of (2) is adjusted;
v 1 it is known that when Δt 1 Sufficiently small, within the allowable error range, the powered device E 1 Path L on track 1 The uniform motion is approximate in the range, and the uniform motion rate is v' 1 The calculation formula is v' 1 ＝b 1 *v 1 Wherein b 1 As a proportionality coefficient, b 1 When=1, v' 1 ＝v 1 And according to the precision requirement of practical application, the method is suitable for the following step 1 And the value of (2) is adjusted.
Then coordinate P 2 (x 2 ,y 2 ,z 2 ) The calculation of (2) is described as follows:
①Δt 1 ＝t 1 -t 2 ；
②L 1 ＝a 1 *M 1 ；
③v’ 1 ＝b 1 *v 1 ；
④Δt 1 ＝L 1 /v’ 1 ＝(a 1 *M 1 )/(b 1 *v 1 )；
⑤t 2 ＝t 1 -Δt 1 ；
⑥t 2 ＝t 1 -L 1 /v’ 1 ＝t 1 -(a 1 *M 1 )/(b 1 *v 1 )；
(7) based on the calculated t 2 Inquiring the powered equipment E 1 Coordinate table F (t, P (x, y, z)) of (2) can be obtained t 1 At moment, station 1 unpowered device E 2 Coordinates P on the travel path G 2 (x 2 ,y 2 ,z 2 )。
(2) At time t 1 The nth said immobilityForce device E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 The coordinate is P n+1 (x n+1 ,y n+1 ,z n+1 ) Wherein the nth said unpowered device E n+1 And (n-1) th said unpowered apparatus E n The path difference on the track is L n ，Δt n At t n And t n+1 Time difference, t n ≧t n+1 ；
M n Is based on M n Calculating to obtain L n The calculation formula is L n ＝a n *M n Wherein a is n As a proportionality coefficient, when M n Sufficiently small, within the allowable error range, L n And M is as follows n Approximately equal at a n =1, and can be applied to a according to the accuracy requirement of practical application n The value of (2) is adjusted;
v n it is known that when Δt n Sufficiently small, within the allowable error range, the powered device E 1 Path L on track n The uniform motion is approximate in the range, and the uniform motion rate is v' n The calculation formula is v' n ＝b n *v n Wherein b n As a proportionality coefficient, b n When=1, v' n ＝v n And according to the precision requirement of practical application, the method is suitable for the following step n And the value of (2) is adjusted.
Then coordinate P n+1 (x n+1 ,y n+1 ,z n+1 ) The calculation of (2) is described as follows:
①Δt n ＝t n -t n+1 ；
②L n ＝a n *M n ；
③v’ n ＝b n *v n ；
④Δt n ＝L n /v’ n ＝(a n *M n )/(b n *v n )；
⑤t n+1 ＝t n -Δt n ；
⑥t n+1 ＝t n -L n /v’ n ＝t n -(a n *M n )/(b n *v n )；
(7) based on the calculated t n+1 Inquiring the powered equipment E 1 Coordinate table F (t, P (x, y, z)) of (2) can be obtained t 1 At the moment, the nth unpowered equipment E n+1 Coordinates P on the travel path G n+1 (x n+1 ,y n+1 ,z n+1 )。
(3) At time t 1 The nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 The coordinate is P n+1 (x n+1 ,y n+1 ,z n+1 ) Wherein n is an integer and 1.ltoreq.n.ltoreq.k, k is an integer greater than or equal to 1, t 1 T is known to be 1 ≧t n+1 ，M 1 ，......，M n Is known, and v 1 ，......，v n Is known.
Then coordinate P n+1 (x n+1 ,y n+1 ,z n+1 ) The calculation of (2) is described as follows:
③......；
(5) based on the calculated t n+1 Inquiring the powered equipment E 1 Coordinate table F (t, P (x, y, z)) of (2) can be obtained t 1 At the moment, the nth unpowered equipment E n+1 Coordinates P on the travel path G n+1 (x n+1 ,y n+1 ,z n+1 )。
When the error is acceptable, take a 1 ＝a 2 ......＝a n ＝1，b 1 ＝b 2 ......＝b n ＝1，M 1 ＝M 2 ......＝M n And v 1 ＝v 2 ......＝v n The nth unpowered device E n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
through the mode, the coordinate information of all unpowered equipment can be obtained, and then positioning is achieved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (3)

1. The method is applied to positioning of a powered device in a moving process of n unpowered devices, wherein n unpowered devices are sequentially connected, the 1 st unpowered device is connected with the powered device, and n is an integer greater than or equal to 1, and is characterized by comprising the following steps:
acquiring a running track of the power equipment, recording coordinates corresponding to each moment t on the running track, and acquiring a coordinate table F;
e represents a device, wherein P 1 (x 1 ,y 1 ,z 1 ) Representing the powered equipment E at time t 1 Coordinates of particles P 2 (x 2 ,y 2 ,z 2 ) Time t represents No. 1Power plant E 2 The coordinates of the particles of (c.). P n+1 (x n+1 ,y n+1 ,z n+1 ) Represents the nth unpowered device E for the time t n+1 Is a particle coordinate of (2);
obtaining P when n unpowered devices are connected in series in a straight line n+1 And P n Straight line distance, P 1 And P 2 The straight line distance between them is M 1 ，......，P n And P n+1 The straight line distance between them is M n ；
Obtaining the running speed of the powered device at each time t 1 The running speed of the powered equipment is v 1 ,... time t n The running speed of the powered equipment is v n ；
Taking the x-axis direction coordinate of the power equipment as a transverse axis, the y-axis direction coordinate of the power equipment as a longitudinal axis, and the z-axis direction coordinate of the power equipment as a vertical axis, and constructing a coordinate system;
at time t 1 The powered equipment E 1 The coordinate of (C) is P 1 (x 1 ,y 1 ,z 1 ) At a running rate v 1 The powered equipment E 1 And the 1 st unpowered equipment E 2 The path difference on the track is L 1 ,...the unpowered apparatus E n And the unpowered equipment E n+1 The path difference on the track is L n The method comprises the steps of carrying out a first treatment on the surface of the At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 ,... the nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 ；
At time t 1 The unpowered device E of the 1 st 2 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment 2 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t 1 Said L 1 And said v 1 Calculating to obtain the t 2 Obtaining the t based on the coordinate table F 2 Corresponding 1 st said unpowered device E 2 The coordinate P of (2) 2 (x 2 ,y 2 ,z 2 )；
......
At time t 1 The nth said unpowered apparatus E n+1 The coordinates of the power equipment are corresponding to the moment t on the running track of the power equipment n+1 The method comprises the steps of carrying out a first treatment on the surface of the Based on said t n Said L n And said v 1 Calculating to obtain the t n+1 Obtaining the t based on the coordinate table F n+1 Corresponding nth said unpowered device E n+1 The coordinate P of (2) n+1 (x n+1 ,y n+1 ,z n+1 ) The method comprises the steps of carrying out a first treatment on the surface of the The 1 st unpowered device E 2 Time t of (2) 2 The calculation mode of (a) is as follows:
Δt 1 ＝t 1 -t 2 ；
L 1 ＝a 1 *M 1 ；
v’ 1 ＝b 1 *v 1 ；
Δt 1 ＝L 1 /v’ 1 ＝(a 1 *M 1 )/(b 1 *v 1 )；
t 2 ＝t 1 -Δt 1 ；
t 2 ＝t 1 -L 1 /v’ 1 ＝t 1 -(a 1 *M 1 )/(b 1 *v 1 )；
from t 2 Querying the coordinate table F to obtain the 1 st unpowered device E 2 The coordinate P of (2) 2 ；
Wherein Δt is 1 At t 1 And t 2 Time difference, t 1 ≧t 2 ；
M 1 Is based on M 1 Calculating to obtain L 1 The calculation formula is L 1 ＝a 1 *M 1 Wherein a is 1 Is a proportionality coefficient;
v 1 the powered device E is known 1 Path L on track 1 The movement rate in the range is v ’ 1 The calculation formula is v ’ 1 ＝b 1 *v 1 Wherein b 1 Is a proportionality coefficient.
2. The time information-based tarmac self-binding unpowered device dead reckoning method as claimed in claim 1, wherein the nth unpowered device E n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
Δt n ＝t n -t n+1 ；
L n ＝a n *M n ；
v’ n ＝b n *v n ；
Δt n ＝L n /v’ n ＝(a n *M n )/(b n *v n )；
t n+1 ＝t n -Δt n ；
t n+1 ＝t n -L n /v’ n ＝t n -(a n *M n )/(b n *v n )；
from t n+1 Querying the coordinate table F to obtain the nth unpowered device E n+1 The coordinate P of (2) n+1 ；
Wherein Δt is n At t n And t n+1 Time difference, t n ≧t n+1 ；
M n Is based on M n Calculating to obtain L n The calculation formula is L n ＝a n *M n Wherein a is n Is a proportionality coefficient;
v n the powered device E is known 1 Path L on track n The movement rate in the range is v' n The calculation formula is v' n ＝b n *v n Wherein b n Is a proportionality coefficient.
3. The time information-based tarmac self-binding unpowered device dead reckoning method as claimed in claim 1, wherein the nth unpowered device E n+1 Time t of (2) n+1 Calculation of (2)The method comprises the following steps:
......
from t n+1 Querying the coordinate table F to obtain the nth unpowered device E n+1 The coordinate P of (2) n+1 ；
Taking a 1 ＝a 2 ......＝a n ＝1，b 1 ＝b 2 ......＝b n ＝1，M 1 ＝M 2 ......＝M n And v 1 ＝v 2 ......＝v n The nth unpowered device E n+1 Time t of (2) n+1 The calculation mode of (a) is as follows:
wherein n is an integer and 1+.n+.k, k is an integer greater than or equal to 1; t is t 1 T is known to be 1 ≧t n+1 ，M 1 ，......，M n Is known, and v 1 ，......，v n Is known.
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