CN114449442B - Intelligent rail vehicle library positioning system and method based on UWB technology - Google Patents
Intelligent rail vehicle library positioning system and method based on UWB technology Download PDFInfo
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- CN114449442B CN114449442B CN202210061329.3A CN202210061329A CN114449442B CN 114449442 B CN114449442 B CN 114449442B CN 202210061329 A CN202210061329 A CN 202210061329A CN 114449442 B CN114449442 B CN 114449442B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- 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
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- 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
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a positioning system and a positioning method in an intelligent rail vehicle library based on UWB technology, which mainly comprise 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, so that distance measurement from the UWB positioning tag to the UWB positioning base station is realized; transmitting the distance information and the identity information of each UWB positioning base station and each UWB positioning tag to a main control computer by utilizing a data transmitter; the main control computer calculates the position of each UWB positioning tag by utilizing the combination of the identity information and the distance information, thereby realizing the positioning of intelligent rail vehicles in a warehouse. The whole system and the method realize full automation of positioning in the intelligent rail vehicle warehouse, effectively improve the intelligent management degree in the intelligent rail vehicle warehouse, reduce the management cost, provide in-warehouse route planning for various operations of the intelligent rail train, improve the operation efficiency and create greater economic benefit.
Description
Technical Field
The invention belongs to the field of positioning in intelligent rail vehicle libraries, and particularly relates to an intelligent rail vehicle library positioning system and method based on UWB technology.
Background
The intelligent tramcar is a novel public transport tool with zero emission, no pollution, bidirectional running and multiple groups, and has the characteristics of low investment cost, short construction period, strong flexibility and the like compared with the traditional tramcar, subway and other rail traffic, and is an important direction of urban public transport in the future. The existing method for positioning the intelligent rail vehicle is mostly based on GPS and picture identification, but GPS signals can be greatly attenuated in a house, and the picture identification is difficult to find a reliable reference point for a garage with frequent personnel and equipment movement to position, so that the existing method cannot realize accurate positioning in the intelligent rail vehicle warehouse with complex environment.
Disclosure of Invention
The UWB positioning technology is a wireless carrier positioning technology, the working frequency band is high, the working frequency band is generally in the range of 3GHz to 10GHz, the interference of various external signals can be overcome, the UWB signal has an ultra-wideband, the signal distance resolution can reach the centimeter level, and the high-precision positioning of the complex environment can be realized by using the UWB positioning technology. The UWB positioning technology is applied to positioning in intelligent rail vehicle libraries, and has wide application prospect.
Aiming at least one of the defects or the improvement demands of the prior art, the invention provides a positioning system and a positioning method based on UWB technology in an intelligent rail vehicle library, which mainly comprise a UWB positioning base station, a UWB positioning label, a data transmitter and a main control machine; the UWB positioning base station and the UWB positioning tag mutually transmit and receive UWB signals, so that distance measurement from the UWB positioning tag to the UWB positioning base station is realized; transmitting the distance information and the identity information of each UWB positioning base station and each UWB positioning tag to a main control computer by utilizing a data transmitter; the main control computer calculates the position of each UWB positioning tag by utilizing the combination of the identity information and the distance information, thereby realizing the positioning of intelligent rail vehicles in a warehouse. The whole system and the method realize full automation of positioning in the intelligent rail vehicle warehouse, effectively improve the intelligent management degree in the intelligent rail vehicle warehouse, reduce the management cost, provide in-warehouse route planning for various operations of the intelligent rail train, improve the operation efficiency and create greater economic benefit.
To achieve the above object, according to one aspect of the present invention, there is provided a smart rail vehicle library positioning system based on UWB technology, comprising:
the intelligent rail vehicle 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 labels 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 tag, receiving the UWB signals transmitted by the UWB positioning tag, calculating the distance from the UWB positioning tag to the UWB positioning base station, and transmitting the distance information to the data transmitter;
The UWB positioning tag is used for receiving UWB signals transmitted by the UWB positioning base station and transmitting the UWB signals to the UWB positioning base station;
the data transmitter is used for receiving the distance information transmitted by the UWB positioning base station and transmitting the UWB positioning base station number and the distance information thereof to the main control computer;
The master control machine is used for receiving information transmitted by the plurality of data transmitters, calculating the position of each 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 library according to the position of the vehicle-mounted UWB positioning tag.
It is further preferred that on-board UWB positioning tags are arranged at least at the four corners of the intelligent 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 library positioning method based on UWB technology, comprising the steps of:
S1, arranging a plurality of UWB positioning base stations in an intelligent rail train garage according to the signal coverage range of the UWB positioning base stations;
s2, installing a data transmitter on the UWB positioning base station so that the data transmitter can wirelessly transmit distance information;
s3, setting the position in the library of the UWB positioning base station on the main control machine according to the UWB positioning base station;
s4, when positioning is started, the UWB positioning base station firstly transmits UWB signals;
S5, after the UWB positioning labels distributed on the intelligent rail train receive UWB positioning signals transmitted by the UWB positioning base stations, the UWB positioning signals transmitted to the UWB positioning base stations are delayed by fixed time;
S6, after the UWB positioning base station receives the UWB signals transmitted by the UWB positioning base station, calculating the propagation time of the UWB signals;
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 position of the UWB positioning tag according to the position of the UWB positioning base station and the distance from the UWB positioning tag to the UWB positioning base station;
S11, the master control machine determines the position of the intelligent rail vehicle in the library according to the position of the vehicle-mounted UWB positioning tag.
It is further preferred that in step S1, all vehicle parking spots in the library are made to be at least within the signal range of 3 UWB positioning base stations.
Further preferably, in step S4, the UWB signal transmitted by the UWB positioning base station contains 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= (UWB positioning base station reception signal time-UWB positioning base station transmission signal time-UW positioning tag fixed delay time)/2.
Further preferably, in step S7, the distance of the UWB positioning tag to the UWB positioning base station = propagation time x propagation speed of the signal in 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 to the main control unit by the data transmitter includes UWB positioning base station identity information and UWB positioning tag identity information.
The above-described preferred technical features may be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
1. The intelligent rail vehicle warehouse positioning system and method based on the UWB technology have the greatest characteristics of realizing high-precision positioning in the intelligent rail vehicle warehouse, effectively improving the intelligent management degree in the intelligent rail vehicle warehouse, reducing the management cost, providing in-warehouse route planning for overhaul operation of the intelligent rail train, improving the overhaul efficiency and creating greater economic benefit.
2. Compared with the traditional GPS positioning, the intelligent rail vehicle library positioning system and method based on the UWB technology cannot realize indoor positioning, and the positioning method provided by the invention can realize in-library positioning; compared with the 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 in complex environments in intelligent rail train garages.
Drawings
FIG. 1 is a flow chart of a method for locating a smart rail vehicle library based on UWB technology according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the positioning principle of a single UWB positioning tag;
FIG. 3 is a schematic diagram of the positioning principle of a plurality of UWB positioning tags;
fig. 4 is a schematic diagram of UWB positioning tag arrangement on a smart rail train.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other. The present invention will be described in further detail with reference to the following embodiments.
As a preferred embodiment of the invention, the invention provides a positioning system and a positioning method in an intelligent rail vehicle warehouse based on UWB technology, wherein positioning system equipment mainly comprises a plurality of in-warehouse UWB positioning base stations and corresponding data transmitters which are arranged in the intelligent rail vehicle warehouse, a plurality of vehicle-mounted UWB positioning labels which are arranged on the intelligent rail vehicle, and a main control machine.
The UWB positioning base station mainly comprises the following functions: transmitting UWB signals to the UWB locating tag, receiving the UWB signals transmitted from the UWB locating tag, calculating the distance of the UWB locating tag from the UWB locating base station, and transmitting the distance information to the data transmitter.
The UWB positioning tag mainly comprises the following functions: receiving a UWB signal transmitted from a UWB positioning base station, and transmitting the UWB signal to the UWB positioning base station.
The main functions of the data transmitter include: receiving distance information transmitted by the UWB positioning base station, converting the UWB positioning base station number and the distance information thereof into wireless signals, and transmitting the wireless signals to the main control computer. The data transmitter is directly connected with the UWB positioning base station through a signal wire.
Main functions of the main control machine include: and receiving information transmitted by a 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 library 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 library based on 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 at the UWB positioning base station, so that the data transmitter can wirelessly transmit distance information;
3. according to the UWB positioning base station, setting the position in the library of the UWB positioning base station on the main control computer;
4. When starting positioning, the UWB positioning base station firstly transmits UWB signals (comprising UWB positioning base station identity information);
5. after the UWB positioning tag in the intelligent rail train receives the UWB positioning signal transmitted by the UWB positioning base station, the UWB positioning signal (comprising the identity information of the UWB positioning tag) transmitted to the UWB positioning base station after fixed 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, wherein the propagation time= (the time of receiving the signal by the UWB positioning base station-the time of transmitting the signal by the UWB positioning base station-the fixed delay time of the UW positioning tag)/2;
The UWB positioning base station calculates the distance between the UWB positioning label and the UWB positioning base station according to the UWB signal propagation time, wherein the distance=the propagation time×the propagation speed (constant) of the signal in the air;
The UWB positioning base station transmits distance information (comprising UWB positioning base station identity information and UWB positioning tag identity information) to the data transmitter;
9. the data transmitter transmits distance information (comprising UWB positioning base station identity information and UWB positioning tag identity information) to the main control computer;
10. The main control computer calculates the position of the UWB positioning tag according to the position of the UWB positioning base station and the distance from the UWB positioning tag to the UWB positioning base station;
11. and the main control machine determines the position of the intelligent rail vehicle in the warehouse according to the position of the vehicle-mounted UWB positioning tag.
The method for calculating the position of the UWB positioning tag by the main control computer comprises the following steps:
1. when the position and the distance information of the UWB positioning base station can be centered by the UWB positioning base station, a circle is drawn by taking the distance in the distance information as a radius, and 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 figure 2;
3. The distances between different UWB positioning base stations and different UWB positioning labels can be distinguished by using the UWB positioning base station identity information and the UWB positioning label identity information on the distance information, so that simultaneous positioning of multiple targets is realized, as shown in fig. 3.
UWB positioning labels are arranged at least at four corners of the intelligent rail vehicle as shown in figure 4 (the dimension unit is mm in the figure), UWB positioning labels can be arranged at other positions such as the middle part, the head part and the tail part of the vehicle, UWB positioning base stations are arranged in the intelligent rail train garage according to the requirements, and simultaneous positioning in the intelligent rail vehicle garage can be realized, so that 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 remarkable advantages:
The intelligent rail vehicle warehouse positioning system and method based on the UWB technology have the greatest characteristics of realizing high-precision positioning in the intelligent rail vehicle warehouse, effectively improving the intelligent management degree in the intelligent rail vehicle warehouse, reducing the management cost, providing in-warehouse route planning for overhaul operation of the intelligent rail train, improving the overhaul efficiency and creating greater economic benefit.
Compared with the traditional GPS positioning, the intelligent rail vehicle library positioning system and method based on the UWB technology cannot realize indoor positioning, and the positioning method provided by the invention can realize in-library positioning; compared with the 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 in complex environments in intelligent rail train garages.
It will be appreciated that the embodiments of the system described above are merely illustrative, in that the 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. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
In addition, it will be understood by those skilled in the art that 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 one … …" does not exclude the presence of other like 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 above 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 construed as reflecting the intention that: i.e., an embodiment of the invention that is claimed, requires 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 this invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (1)
1. An intelligent rail vehicle warehouse positioning system based on UWB technology, which is characterized by comprising:
the intelligent rail vehicle 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 labels 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 tag, receiving the UWB signals transmitted by the UWB positioning tag, calculating the distance from the UWB positioning tag to the UWB positioning base station, and transmitting the distance information to the data transmitter;
The UWB positioning labels are arranged at four corners of the intelligent rail vehicle, the head part of the intelligent rail vehicle, the middle part of the intelligent rail vehicle and the tail part of the intelligent rail vehicle, and are used for receiving UWB signals transmitted by the UWB positioning base station and transmitting the UWB signals to the UWB positioning base station;
the data transmitter is used for receiving the distance information transmitted by the UWB positioning base station and transmitting the UWB positioning base station number and the distance information thereof to the main control computer;
the master control machine is used for receiving information transmitted by the plurality of data transmitters, calculating the position of each 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 library according to the position of the vehicle-mounted UWB positioning tag;
the positioning method of the intelligent rail vehicle library positioning system based on the UWB technology comprises the following steps:
S1, arranging a plurality of UWB positioning base stations in an 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;
s2, installing a data transmitter on the UWB positioning base station so that the data transmitter can wirelessly transmit distance information;
s3, setting the position in the library of the UWB positioning base station on the main control machine according to the UWB positioning base station;
S4, when positioning is started, the UWB positioning base station firstly transmits UWB signals comprising the identity information of the UWB positioning base station;
S5, after the UWB positioning labels distributed on the intelligent rail train receive UWB positioning signals which are transmitted by the UWB positioning base stations and contain the identity information of the UWB positioning labels, the UWB positioning signals are transmitted to the UWB positioning base stations after fixed time delay;
S6, after the UWB positioning base station receives the UWB signals transmitted by the UWB positioning base station, calculating the propagation time of the UWB signals;
Wherein, propagation time= (UWB positioning base station received signal time-UWB positioning base station transmitted signal time-UW positioning tag fixed delay time)/2;
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;
wherein distance of UWB positioning tag to UWB positioning base station = propagation time x propagation speed of signal in air;
S8, the UWB positioning base station transmits the distance information to the data transmitter;
The distance information transmitted to the data transmitter by the UWB positioning base station comprises UWB positioning base station identity information and UWB positioning tag identity information;
s9, the data transmitter transmits the distance information to the main control computer;
The distance information transmitted to the main control computer by the data transmitter comprises UWB positioning base station identity information and UWB positioning label identity information;
S10, the main control computer calculates the position of the UWB positioning tag according to the position of the UWB positioning base station and the distance from the UWB positioning tag to the UWB positioning base station;
according to the UWB positioning base station identity information and the UWB positioning tag identity information on the distance information, the distances between different UWB positioning base stations and different UWB positioning tags are distinguished, and therefore simultaneous positioning of multiple targets is achieved;
the method for calculating the position of the UWB positioning tag by the main control computer comprises the following steps:
When the position and the distance information of the UWB positioning base station can be centered by the UWB positioning base station, a circle is drawn by taking the distance in the distance information as a radius, and the position of the UWB positioning tag is positioned on the circle;
when 3 or more UWB positioning base stations position the same UWB positioning tag, the position of the UWB positioning tag can be determined;
the distance information is utilized to distinguish the distances between different UWB positioning base stations and different UWB positioning labels by utilizing the UWB positioning base station identity information and the UWB positioning label identity information on the distance information, so that the simultaneous positioning of multiple targets is realized;
S11, the master control machine determines the position of the intelligent rail vehicle in the library according to the position of the vehicle-mounted UWB positioning tag.
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