CN114449442A - Intelligent rail vehicle in-garage positioning system and method based on UWB technology - Google Patents

Intelligent rail vehicle in-garage positioning system and method based on UWB technology Download PDF

Info

Publication number
CN114449442A
CN114449442A CN202210061329.3A CN202210061329A CN114449442A CN 114449442 A CN114449442 A CN 114449442A CN 202210061329 A CN202210061329 A CN 202210061329A CN 114449442 A CN114449442 A CN 114449442A
Authority
CN
China
Prior art keywords
uwb
uwb positioning
base station
positioning base
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210061329.3A
Other languages
Chinese (zh)
Inventor
付英东
刘高坤
周小斌
林飞
殷勤
李加祺
李经伟
冯帅
周玲玲
蒲思培
孙思远
黄世明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Railway Siyuan Survey and Design Group Co Ltd
Original Assignee
China Railway Siyuan Survey and Design Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Railway Siyuan Survey and Design Group Co Ltd filed Critical China Railway Siyuan Survey and Design Group Co Ltd
Priority to CN202210061329.3A priority Critical patent/CN114449442A/en
Publication of CN114449442A publication Critical patent/CN114449442A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Abstract

The invention discloses an intelligent rail vehicle in-garage positioning system and method based on UWB technology, mainly comprising a UWB positioning base station, a UWB positioning tag, a data transmitter and a main control computer; the UWB positioning base station and the UWB positioning tag mutually transmit and receive UWB signals to realize the distance measurement from the UWB positioning tag to the UWB positioning base station; transmitting the distance information and the identity information of each UWB positioning base station and UWB positioning label to a main control machine by using a data transmitter; the main control machine calculates the position of each UWB positioning tag by combining the identity information and the distance information, thereby realizing the positioning of the intelligent rail vehicle in the garage. The whole system and the method realize the full automation of the positioning in the intelligent rail vehicle warehouse, effectively improve the intelligent management degree in the intelligent rail vehicle warehouse, reduce the management cost, provide the route planning in the warehouse for various operations of the intelligent rail train, improve the operation efficiency and create greater economic benefits.

Description

Intelligent rail vehicle in-garage positioning system and method based on UWB technology
Technical Field
The invention belongs to the field of intelligent rail vehicle in-garage positioning, and particularly relates to an intelligent rail vehicle in-garage positioning system and method based on a UWB technology.
Background
The intelligent rail electric car is a novel public transport means with zero emission, no pollution, bidirectional running and multi-grouping, has the characteristics of low investment cost, short construction period, strong flexibility and the like compared with the traditional rail transport means such as the tramcar, the subway and the like, and is an important direction of urban public transport in the future. Most of the existing intelligent rail vehicle positioning methods are based on GPS and picture recognition for positioning, but GPS signals are greatly attenuated indoors, and the picture recognition is difficult to find reliable reference points for positioning in garages with frequent movement of personnel and equipment, so that the existing methods cannot realize accurate positioning in intelligent rail garages with complex environments.
Disclosure of Invention
The UWB positioning technology is a wireless carrier positioning technology, the working frequency range of the UWB positioning technology is high, the UWB positioning technology is generally in the range from 3GHz to 10GHz, the interference of various external signals can be overcome, the UWB signals have ultra wide band, the signal distance resolution can reach centimeter level, and the UWB positioning technology can be used for realizing high-precision positioning of complex environments. The UWB positioning technology is applied to intelligent rail vehicle in-garage positioning, and has wide application prospect.
Aiming at least one of the defects or the improvement requirements in the prior art, the invention provides an intelligent rail vehicle in-garage positioning system and method based on a UWB technology, which mainly comprise a UWB positioning base station, a UWB positioning label, a data transmitter and a main control computer; the UWB positioning base station and the UWB positioning tag mutually transmit and receive UWB signals to realize the distance measurement from the UWB positioning tag to the UWB positioning base station; transmitting the distance information and the identity information of each UWB positioning base station and UWB positioning label to a main control machine by using a data transmitter; the main control machine calculates the position of each UWB positioning tag by combining the identity information and the distance information, thereby realizing the positioning of the intelligent rail vehicle in the garage. The whole system and the method realize the full automation of the positioning in the intelligent rail vehicle warehouse, effectively improve the intelligent management degree in the intelligent rail vehicle warehouse, reduce the management cost, provide the route planning in the warehouse for various operations of the intelligent rail train, improve the operation efficiency and create greater economic benefits.
To achieve the above object, according to one aspect of the present invention, there is provided a smart rail in-vehicle garage positioning system based on UWB technology, comprising:
the intelligent rail vehicle system comprises a plurality of in-garage UWB positioning base stations and corresponding data transmitters which are arranged in an intelligent rail vehicle garage, a plurality of vehicle-mounted UWB positioning tags which are arranged on the intelligent rail vehicle and a main control computer;
the UWB positioning base station is used for transmitting UWB signals to the UWB positioning tags, receiving the UWB signals transmitted by the UWB positioning tags, calculating the distance from the UWB positioning tags to the UWB positioning base station, and transmitting the distance information to the data transmitter;
the UWB positioning tag is used for receiving a UWB signal transmitted by a UWB positioning base station and transmitting the UWB signal to the UWB positioning base station;
the data transmitter is used for receiving distance information transmitted from the UWB positioning base station and transmitting the serial number of the UWB positioning base station and the distance information to the main control computer;
the main control computer is used for receiving the information transmitted by the data transmitters, calculating the position of each UWB positioning label according to the position of the UWB positioning base station and the distance information, and determining the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning label.
Further preferably, vehicle-mounted UWB positioning tags are arranged at least at four corners of the smart rail vehicle.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a smart rail vehicle garage positioning method based on UWB technology, comprising the steps of:
s1, arranging a plurality of UWB positioning base stations in the intelligent rail train garage according to the signal coverage range of the UWB positioning base stations;
s2, installing the data transmitter on the UWB positioning base station to enable the UWB positioning base station to wirelessly transmit distance information;
s3, according to the UWB positioning base station, setting the position in the library of the UWB positioning base station on the main control machine;
s4, when positioning is started, the UWB positioning base station firstly transmits UWB signals;
s5, after receiving UWB positioning signals transmitted by a UWB positioning base station, UWB positioning tags distributed on the intelligent rail train transmit UWB positioning signals to the UWB positioning base station after fixed time delay;
s6, after the UWB positioning base station receives the UWB signals transmitted by the UWB positioning base station, calculating the UWB signal propagation time;
s7, the UWB positioning base station calculates the distance from the UWB positioning label to the UWB positioning base station according to the UWB signal propagation time;
s8, the UWB positioning base station transmits the distance information to the data transmitter;
s9, the data transmitter transmits the distance information to the main control computer;
s10, the main control computer calculates the UWB positioning label position according to the UWB positioning base station position and the distance from the UWB positioning label to the UWB positioning base station;
and S11, the main control computer determines the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning tag.
Further preferably, in step S1, all vehicle parking spots in the garage are brought within the signal range of at least 3 UWB positioning base stations.
Further preferably, in step S4, the UWB signal transmitted by the UWB positioning base station includes UWB positioning base station identity information.
Further preferably, in step S5, the UWB positioning signal transmitted by the UWB positioning tag to the UWB positioning base station contains UWB positioning tag identity information.
Further preferably, in step S6, the propagation time is (UWB positioning base station receiving signal time-UWB positioning base station transmitting signal time-UW positioning tag fixed delay time duration)/2.
Further preferably, in step S7, the distance from the UWB positioning tag to the UWB positioning base station is equal to the propagation time × the propagation speed of the signal in the air.
Further preferably, in step S8, the distance information transmitted by the UWB positioning base station to the data transmitter includes UWB positioning base station identity information and UWB positioning tag identity information.
Further preferably, in step S9, the distance information transmitted by the data transmitter to the master controller includes UWB positioning base station identity information and UWB positioning tag identity information.
The above-described preferred features may be combined with each other as long as they do not conflict with each other.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1. the intelligent rail vehicle in-garage positioning system and method based on the UWB technology are mainly characterized in that high-precision positioning in an intelligent rail vehicle garage is achieved, intelligent management degree in the intelligent rail vehicle garage can be effectively improved, management cost is reduced, in-garage line planning can be provided for maintenance operation of an intelligent rail train, maintenance efficiency is improved, and greater economic benefits are created.
2. Compared with the traditional GPS positioning, the intelligent rail vehicle in-garage positioning system and method based on the UWB technology can not realize indoor positioning by the traditional GPS positioning, and the positioning method provided by the invention can realize in-garage positioning; compared with positioning methods such as Bluetooth and wifi, the positioning method provided by the invention has strong anti-interference performance and high positioning precision, and is suitable for high-precision positioning of complex environments in intelligent rail train depots.
Drawings
FIG. 1 is a flow chart of a method for intelligent rail vehicle garage positioning based on UWB technology according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a single UWB positioning tag positioning principle;
FIG. 3 is a schematic illustration of a multiple UWB positioning tag positioning principle;
fig. 4 is a schematic diagram of UWB positioning tag arrangement on smart rail train.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
As a better implementation mode of the invention, the invention provides a positioning system and a positioning method in an intelligent rail vehicle library based on UWB technology, the positioning system mainly comprises a plurality of in-library UWB positioning base stations installed in the intelligent rail vehicle library, corresponding data transmitters, a plurality of vehicle-mounted UWB positioning tags installed on the intelligent rail vehicle and a main control computer, the degree of automation of the system is high, the management efficiency in the intelligent rail vehicle library can be effectively improved, and the management time and the economic cost are saved.
The main functions of the UWB positioning base station include: transmitting a UWB signal to a UWB positioning tag, receiving the UWB signal transmitted from the UWB positioning tag, calculating a distance from the UWB positioning tag to a UWB positioning base station, and transmitting the distance information to a data transmitter.
The main functions of the UWB positioning tag include: and receiving the UWB signal transmitted from the UWB positioning base station and transmitting the UWB signal to the UWB positioning base station.
The main functions of the data transmitter include: and receiving the distance information transmitted from the UWB positioning base station, converting the serial number of the UWB positioning base station and the distance information thereof into a wireless signal and transmitting the wireless signal to the main control computer. The data transmitter is directly connected with the UWB positioning base station through a signal line.
The main functions of the main control machine comprise: and receiving the information transmitted by the plurality of data transmitters, calculating the position of the UWB positioning tag according to the position of the UWB positioning base station and the distance information, and determining the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning tag.
As shown in FIG. 1, the process part of the positioning method in the intelligent rail vehicle garage based on the UWB technology is as follows:
1. arranging a plurality of UWB positioning base stations in the intelligent rail train garage according to the signal coverage range of the UWB positioning base stations, so that all vehicle parking points in the garage are at least within the signal range of 3 UWB positioning base stations (the signal coverage radius of a single UWB positioning base station is about 60 m);
2. the data transmitter is arranged on the UWB positioning base station, so that the UWB positioning base station can wirelessly transmit distance information;
3. according to the UWB positioning base station, setting the in-warehouse position of the UWB positioning base station on the main control machine;
4. when positioning is started, the UWB positioning base station firstly transmits UWB signals (including UWB positioning base station identity information);
5. after receiving a UWB positioning signal transmitted by a UWB positioning base station, a UWB positioning tag in the intelligent rail train can transmit the UWB positioning signal (containing UWB positioning tag identity information) to the UWB positioning base station after a fixed time delay;
after receiving the UWB signal transmitted by the UWB positioning base station, the UWB positioning base station calculates the propagation time of the UWB signal, where the propagation time is (time when the UWB positioning base station receives the signal-time when the UWB positioning base station transmits the signal-time when the UW positioning tag is fixed, delay time)/2;
the UWB positioning base station calculates the distance from the UWB positioning tag to the UWB positioning base station according to the UWB signal propagation time, wherein the distance is the propagation time multiplied by the propagation speed of the signal in the air (constant);
the UWB positioning base station transmits the distance information (including UWB positioning base station identity information and UWB positioning tag identity information) to the data transmitter;
9. the data transmitter transmits the distance information (including the identity information of the UWB positioning base station and the identity information of the UWB positioning tag) to the main control machine;
10. the main control computer calculates the position of the UWB positioning label according to the position of the UWB positioning base station and the distance from the UWB positioning label to the UWB positioning base station;
11. and the main control computer determines the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning tag.
The method for calculating the UWB positioning label position by the main control computer is as follows:
1. when the position and the distance information of the UWB positioning base station can be centered on the UWB positioning base station, and a circle is drawn by taking the distance in the distance information as a radius, the position of the UWB positioning tag is positioned on the circle;
2. when 3 or more UWB positioning base stations position the same UWB positioning tag, the position of the UWB positioning tag can be determined as shown in fig. 2;
3. the distance between different UWB positioning base stations and different UWB positioning tags can be distinguished by using the UWB positioning base station identity information and the UWB positioning tag identity information on the distance information, thereby achieving multi-target simultaneous positioning, as shown in fig. 3.
UWB positioning tags are arranged at four corners of the intelligent rail vehicle at least as shown in figure 4 (the unit of size in the figure is mm), UWB positioning tags can be arranged at the middle part, the head and the tail of the vehicle and other positions, UWB positioning base stations are arranged in the intelligent rail train garage according to the requirements, simultaneous positioning in the intelligent rail vehicle garage can be achieved, the intelligent rail vehicle management efficiency is improved, and the management cost is reduced.
In summary, compared with the prior art, the scheme of the invention has the following significant advantages:
the intelligent rail vehicle in-garage positioning system and method based on the UWB technology are mainly characterized in that high-precision positioning in an intelligent rail vehicle garage is achieved, intelligent management degree in the intelligent rail vehicle garage can be effectively improved, management cost is reduced, in-garage line planning can be provided for maintenance operation of an intelligent rail train, maintenance efficiency is improved, and greater economic benefits are created.
Compared with the traditional GPS positioning, the intelligent rail vehicle in-garage positioning system and method based on the UWB technology can not realize indoor positioning by the traditional GPS positioning, and the positioning method provided by the invention can realize in-garage positioning; compared with positioning methods such as Bluetooth and wifi, the positioning method provided by the invention has strong anti-interference performance and high positioning precision, and is suitable for high-precision positioning of complex environments in intelligent rail train depots.
It will be appreciated that the embodiments of the system described above are merely illustrative, in that elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In addition, it should be understood by those skilled in the art that, in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the respective technical solutions of the embodiments of the present invention.

Claims (10)

1. An intelligent rail vehicle garage internal positioning system based on UWB technology, comprising:
the system comprises a plurality of in-warehouse UWB positioning base stations and corresponding data transmitters which are arranged in an intelligent rail vehicle warehouse, a plurality of vehicle-mounted UWB positioning tags which are arranged on the intelligent rail vehicle, and a main control machine;
the UWB positioning base station is used for transmitting UWB signals to the UWB positioning tags, receiving the UWB signals transmitted by the UWB positioning tags, calculating the distance from the UWB positioning tags to the UWB positioning base station, and transmitting the distance information to the data transmitter;
the UWB positioning tag is used for receiving a UWB signal transmitted by a UWB positioning base station and transmitting the UWB signal to the UWB positioning base station;
the data transmitter is used for receiving the distance information transmitted from the UWB positioning base station and transmitting the UWB positioning base station number and the distance information thereof to the main control machine;
the main control computer is used for receiving the information transmitted by the data transmitters, calculating the position of each UWB positioning label according to the position of the UWB positioning base station and the distance information, and determining the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning label.
2. The UWB technology based smart track in-vehicle garage positioning system of claim 1, wherein:
and vehicle-mounted UWB positioning tags are arranged at least at four corners of the intelligent rail vehicle.
3. An intelligent rail vehicle garage positioning method based on UWB technology is characterized by comprising the following steps:
s1, arranging a plurality of UWB positioning base stations in the intelligent rail train garage according to the signal coverage range of the UWB positioning base stations;
s2, installing the data transmitter on the UWB positioning base station to enable the UWB positioning base station to wirelessly transmit distance information;
s3, according to the UWB positioning base station, setting the position in the library of the UWB positioning base station on the main control machine;
s4, when positioning is started, the UWB positioning base station firstly transmits UWB signals;
s5, after receiving UWB positioning signals transmitted by a UWB positioning base station, UWB positioning tags distributed on the intelligent rail train transmit UWB positioning signals to the UWB positioning base station after fixed time delay;
s6, after the UWB positioning base station receives the UWB signals transmitted by the UWB positioning base station, calculating the UWB signal propagation time;
s7, the UWB positioning base station calculates the distance from the UWB positioning label to the UWB positioning base station according to the UWB signal propagation time;
s8, the UWB positioning base station transmits the distance information to the data transmitter;
s9, the data transmitter transmits the distance information to the main control computer;
s10, the main control computer calculates the UWB positioning label position according to the UWB positioning base station position and the distance from the UWB positioning label to the UWB positioning base station;
and S11, the main control computer determines the position of the intelligent rail vehicle in the garage according to the position of the vehicle-mounted UWB positioning tag.
4. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S1, all vehicle stops within the garage are brought within the signal range of at least 3 UWB positioning base stations.
5. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S4, the UWB signal transmitted by the UWB positioning base station includes UWB positioning base station identity information.
6. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S5, the UWB positioning signal transmitted by the UWB positioning tag to the UWB positioning base station contains UWB positioning tag identity information.
7. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S6, the propagation time (UWB positioning base station reception signal time-UWB positioning base station transmission signal time-UW positioning tag fixed delay time duration)/2.
8. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S7, the distance from the UWB positioning tag to the UWB positioning base station is equal to the propagation time × the propagation speed of the signal in the air.
9. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S8, the distance information transmitted by the UWB positioning base station to the data transmitter includes UWB positioning base station identity information and UWB positioning tag identity information.
10. The UWB technology based smart rail vehicle garage positioning method of claim 3, wherein:
in step S9, the distance information transmitted from the data transmitter to the master controller includes UWB positioning base station identity information and UWB positioning tag identity information.
CN202210061329.3A 2022-01-19 2022-01-19 Intelligent rail vehicle in-garage positioning system and method based on UWB technology Pending CN114449442A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210061329.3A CN114449442A (en) 2022-01-19 2022-01-19 Intelligent rail vehicle in-garage positioning system and method based on UWB technology

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210061329.3A CN114449442A (en) 2022-01-19 2022-01-19 Intelligent rail vehicle in-garage positioning system and method based on UWB technology

Publications (1)

Publication Number Publication Date
CN114449442A true CN114449442A (en) 2022-05-06

Family

ID=81368567

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210061329.3A Pending CN114449442A (en) 2022-01-19 2022-01-19 Intelligent rail vehicle in-garage positioning system and method based on UWB technology

Country Status (1)

Country Link
CN (1) CN114449442A (en)

Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106205136A (en) * 2014-12-31 2016-12-07 深圳市金溢科技股份有限公司 Vehicle positioning system based on UWB and method
CN106872940A (en) * 2017-01-20 2017-06-20 深圳市共健全民体质体育产业发展有限公司 A kind of high-accuracy position system
CN107333242A (en) * 2017-08-08 2017-11-07 成都精位科技有限公司 Vehicle location management method, electronic lock and positioning label
CN109375166A (en) * 2018-12-07 2019-02-22 成都精位科技有限公司 Active positioning method and active location system
CN109490823A (en) * 2018-10-08 2019-03-19 北京艾思科米科技有限公司 One kind being used for indoor forklift localization method and system
CN109920297A (en) * 2019-03-27 2019-06-21 南京云巅电子科技有限公司 Assisting driving training system and method based on UWB positioning system
KR102009791B1 (en) * 2018-08-23 2019-08-13 주식회사 에이치랩 3D position tracking system using UWB
CN110456305A (en) * 2019-08-27 2019-11-15 全图通位置网络有限公司 A kind of ultra wide band location method
WO2020063979A1 (en) * 2018-09-30 2020-04-02 比亚迪股份有限公司 Train and safety positioning system thereof
CN213323137U (en) * 2020-10-16 2021-06-01 兰州交通大学 UWB positioning system for improving positioning precision of subway train
CN112911504A (en) * 2021-01-21 2021-06-04 江苏云巅电子科技有限公司 Intelligent factory-oriented system and method for ordering goods by vehicle and planning path
US20210181333A1 (en) * 2019-12-12 2021-06-17 Sernet (Suzhou) Technologies Corporation Ultra-wideband (UWB) positioning system, base station, tag and operation methods thereof
CN112995891A (en) * 2021-02-08 2021-06-18 青岛联合创智科技有限公司 Parking lot vehicle positioning method and system based on UWB
CN113055900A (en) * 2021-02-22 2021-06-29 中铁信(北京)网络技术研究院有限公司 Flow guide equipment management method and device for rail transit station
CN113126026A (en) * 2019-12-31 2021-07-16 中移(成都)信息通信科技有限公司 Positioning system, method and storage medium
US20210318422A1 (en) * 2018-08-31 2021-10-14 Robert Bosch Gmbh Method and apparatus for detecting signal propagation type
US20210341566A1 (en) * 2019-06-13 2021-11-04 Shenzhen Hanyang Technology Co., Ltd. Systems and methods for positioning devices
WO2021244331A1 (en) * 2020-06-02 2021-12-09 Oppo广东移动通信有限公司 Positioning service method, and related apparatus
US20220001836A1 (en) * 2018-10-31 2022-01-06 Amotech Co., Ltd. Method and system for precise position estimation for vehicle over uwb

Patent Citations (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106205136A (en) * 2014-12-31 2016-12-07 深圳市金溢科技股份有限公司 Vehicle positioning system based on UWB and method
CN106872940A (en) * 2017-01-20 2017-06-20 深圳市共健全民体质体育产业发展有限公司 A kind of high-accuracy position system
CN107333242A (en) * 2017-08-08 2017-11-07 成都精位科技有限公司 Vehicle location management method, electronic lock and positioning label
KR102009791B1 (en) * 2018-08-23 2019-08-13 주식회사 에이치랩 3D position tracking system using UWB
US20210318422A1 (en) * 2018-08-31 2021-10-14 Robert Bosch Gmbh Method and apparatus for detecting signal propagation type
WO2020063979A1 (en) * 2018-09-30 2020-04-02 比亚迪股份有限公司 Train and safety positioning system thereof
CN109490823A (en) * 2018-10-08 2019-03-19 北京艾思科米科技有限公司 One kind being used for indoor forklift localization method and system
US20220001836A1 (en) * 2018-10-31 2022-01-06 Amotech Co., Ltd. Method and system for precise position estimation for vehicle over uwb
CN109375166A (en) * 2018-12-07 2019-02-22 成都精位科技有限公司 Active positioning method and active location system
CN109920297A (en) * 2019-03-27 2019-06-21 南京云巅电子科技有限公司 Assisting driving training system and method based on UWB positioning system
US20210341566A1 (en) * 2019-06-13 2021-11-04 Shenzhen Hanyang Technology Co., Ltd. Systems and methods for positioning devices
CN110456305A (en) * 2019-08-27 2019-11-15 全图通位置网络有限公司 A kind of ultra wide band location method
US20210181333A1 (en) * 2019-12-12 2021-06-17 Sernet (Suzhou) Technologies Corporation Ultra-wideband (UWB) positioning system, base station, tag and operation methods thereof
CN113126026A (en) * 2019-12-31 2021-07-16 中移(成都)信息通信科技有限公司 Positioning system, method and storage medium
WO2021244331A1 (en) * 2020-06-02 2021-12-09 Oppo广东移动通信有限公司 Positioning service method, and related apparatus
CN213323137U (en) * 2020-10-16 2021-06-01 兰州交通大学 UWB positioning system for improving positioning precision of subway train
CN112911504A (en) * 2021-01-21 2021-06-04 江苏云巅电子科技有限公司 Intelligent factory-oriented system and method for ordering goods by vehicle and planning path
CN112995891A (en) * 2021-02-08 2021-06-18 青岛联合创智科技有限公司 Parking lot vehicle positioning method and system based on UWB
CN113055900A (en) * 2021-02-22 2021-06-29 中铁信(北京)网络技术研究院有限公司 Flow guide equipment management method and device for rail transit station

Similar Documents

Publication Publication Date Title
CN108898880B (en) Vehicle control method and system
CN111629950B (en) Wireless train management system
WO2020192050A1 (en) V2r communication test system and test method based on 5g technology
CN103324901B (en) A kind of positioner for warehousing system and localization method
CN202022221U (en) RFID (radio frequency identification) assistant subway train position detection and precise parking system
CN202383839U (en) Wireless sensor network based intelligent wireless parking guidance system in community
CN103192852A (en) Subway train collision-avoidance early-warning device and method thereof
CN103617733B (en) A kind of freeway traffic detection method based on car networking beaconing mechanism
CN101513888A (en) Location method and system
CN102167064A (en) RFID (radio frequency identification devices)-assisted subway train position detecting and accurate parking system
CN104280716A (en) Indoor positioning device and method
CN101175292A (en) Wireless micro-power network positioning system and locating method thereof
CN103927900A (en) Navigation system and method for accurately positioning in-site vehicle
CN213323137U (en) UWB positioning system for improving positioning precision of subway train
CN203407045U (en) Indoor navigation control system based on LED lighting device
CN102642776A (en) System and method for positioning overhead crane
CN112365734A (en) UWB-based indoor parking lot vehicle searching system and method
CN105469596A (en) Underground intelligent traffic management and control system and method for mine
CN203211332U (en) Anti-collision pre-warning device for subway trains
CN111970644A (en) Bluetooth beacon base station, base station group and transceiving network for mine positioning system
CN204461441U (en) A kind of parking garage Multi-Targets Tracking and Positioning System
CN101795466A (en) Wireless micropower network positioning system and positioning method thereof
CN108111979B (en) BDS and LoRa-based vehicle positioning, tracking and scheduling system and method
CN1760930A (en) Method and system for dispatching and monitoring special vehicles of magnetic suspension traflic
CN101894468A (en) Motion vector based traffic flow detecting method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination