CN114495569A - Ultra-wideband technology-based positioning vehicle-searching system, vehicle-searching method and vehicle - Google Patents
Ultra-wideband technology-based positioning vehicle-searching system, vehicle-searching method and vehicle Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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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
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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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
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Abstract
The invention discloses a positioning vehicle-searching system, a vehicle-searching method and an automobile based on an ultra-wideband technology, wherein the system comprises a vehicle machine end, a mobile end, a Bluetooth key and an ultra-wideband positioning base station assembly; the mobile terminal is used for sending a positioning vehicle searching request to the vehicle terminal and receiving vehicle position information fed back by the vehicle terminal; the vehicle end is used for activating the ultra-wideband positioning base station component after receiving the positioning vehicle searching request and receiving the distance information fed back by the ultra-wideband positioning base station component; an ultra-wideband positioning tag is arranged in the Bluetooth key; the ultra-wideband positioning base station assembly comprises four ultra-wideband positioning base stations, the four ultra-wideband positioning base stations are respectively positioned around the vehicle and are in communication connection with the ultra-wideband positioning tag, and the ultra-wideband positioning base stations are used for sending a ranging request to the ultra-wideband positioning tag and measuring the distance between the ultra-wideband positioning tag and the ultra-wideband positioning tag after the ultra-wideband positioning base stations return information. The invention can still realize accurate positioning of the vehicle under the condition that the GPS signal of the indoor underground parking lot is weak or no signal.
Description
Technical Field
The invention relates to the technical field of automobile positioning, in particular to a positioning and vehicle-searching system and a vehicle-searching method based on an ultra-wideband technology and an automobile.
Background
With the development of society, the living standard of people is improved, and the quantity of automobile ownership is also increased year by year. For places with dense people streams, underground parking lots are getting larger and more complex to solve the parking problem. For people who are not familiar with the parking environment, it often takes a lot of time to find the position where the vehicle is parked when taking the vehicle, and the need for locating and finding the vehicle arises. Generally, a GPS positioning method is often used for positioning a vehicle, and this method can realize positioning in an open outdoor environment by using satellite positioning, but a vehicle cannot be positioned in an indoor underground parking lot due to weak or no GPS signal in the indoor underground parking lot.
UWB is an abbreviation for "Ultra wide band" and is a brand new communication technology that is greatly different from conventional communication technologies. It does not need to use a carrier wave in a conventional communication system, but transmits data by transmitting and receiving extremely narrow pulses having nanosecond or less, thereby having a bandwidth in the order of GHz. Compared with the traditional technology, the UWB technology has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of providing accurate positioning precision and the like, can be used for positioning indoor static or moving objects, and can provide accurate positioning of centimeter-level precision. Therefore, how to provide a technical scheme for applying the ultra-wideband technology to an indoor underground parking lot to realize the purpose of finding and positioning the vehicle under the condition that a GPS signal is weak or no signal is also a technical problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a positioning vehicle-searching system and a vehicle-searching method based on ultra-wideband technology, which can still realize accurate positioning of vehicles under the condition that GPS signals of an indoor underground parking lot are weak or no signals.
In order to solve the technical problems, the invention adopts the following technical scheme:
a positioning vehicle-searching system based on an ultra-wideband technology comprises a vehicle machine end, a mobile end, a Bluetooth key and an ultra-wideband positioning base station assembly;
the mobile terminal is in communication connection with the vehicle terminal and is used for sending a positioning vehicle searching request to the vehicle terminal and receiving vehicle position information fed back by the vehicle terminal;
the vehicle end is in communication connection with the ultra-wideband positioning base station component and is used for activating the ultra-wideband positioning base station component after receiving a positioning vehicle searching request and receiving distance information fed back by the ultra-wideband positioning base station component;
an ultra-wideband positioning tag is arranged in the Bluetooth key;
the ultra-wideband positioning base station assembly comprises four ultra-wideband positioning base stations, the four ultra-wideband positioning base stations are respectively positioned around a vehicle, and the ultra-wideband positioning base stations are in communication connection with the ultra-wideband positioning tags and are used for sending a distance measurement request to the ultra-wideband positioning tags after receiving an activation signal at the vehicle end and measuring the distance from the ultra-wideband positioning tags to the ultra-wideband positioning tags after the ultra-wideband positioning tags return information.
The working principle of the invention is as follows: when the vehicle needs to be positioned and searched, the mobile terminal sends a positioning and searching request; the mobile terminal is in communication connection with the vehicle terminal, the vehicle terminal receives a positioning vehicle-searching request, activates the ultra-wideband positioning base station component, and sends a ranging request to the ultra-wideband positioning tag through the ultra-wideband positioning base station component; when the ultra-wideband positioning base station assembly receives a ranging request response of the ultra-wideband positioning tag, four ultra-wideband positioning base stations in the ultra-wideband positioning base station assembly sequentially send ranging characteristic values to the ultra-wideband positioning tag according to a set sequence, and the ultra-wideband positioning tag respectively returns the received ranging characteristic values of the four ultra-wideband positioning base stations after processing; the four ultra-wideband positioning base stations are respectively calculated according to the returned ranging characteristic values to obtain the distance between each ultra-wideband positioning base station and the ultra-wideband positioning label, and the distance is fed back to a vehicle end; and the vehicle end converts the distance between the four ultra-wideband positioning base stations and the ultra-wideband positioning label into the coordinate position of the ultra-wideband positioning label relative to the vehicle and sends the coordinate position to the mobile end for displaying until the positioning and vehicle searching process is finished.
A positioning and vehicle-searching method based on the ultra-wideband technology adopts the positioning and vehicle-searching system based on the ultra-wideband technology, and comprises the following steps:
step 1) the mobile terminal sends a positioning vehicle searching request;
step 2) the mobile terminal is in communication connection with the vehicle terminal, and the vehicle terminal receives a positioning vehicle searching request and activates the ultra-wideband positioning base station component;
step 3) the ultra-wideband positioning base station component sends ranging requests to the ultra-wideband positioning tags respectively;
step 4) whether the ultra-wideband positioning base station component receives a ranging request response of the ultra-wideband positioning tag or not is judged, if yes, the step 5) is executed, and if not, the step 3) is executed;
step 5) four ultra-wideband positioning base stations in the ultra-wideband positioning base station assembly sequentially send ranging characteristic values to the ultra-wideband positioning label according to a set sequence, and the ultra-wideband positioning label respectively returns the received ranging characteristic values of the four ultra-wideband positioning base stations after processing;
step 6) the four ultra-wideband positioning base stations are respectively calculated according to the returned ranging characteristic values to obtain the distance between each ultra-wideband positioning base station and an ultra-wideband positioning label, and the distance is fed back to a vehicle end;
step 7), the vehicle end converts the distance between the four ultra-wideband positioning base stations and the ultra-wideband positioning label into the coordinate position of the ultra-wideband positioning label relative to the vehicle;
step 8) the vehicle end sends the coordinate position of the vehicle to the mobile end for displaying;
step 9) whether the positioning vehicle searching process is finished or not is judged, if yes, the step 10) is executed, and if not, the step 5) is executed;
and step 10) ending the positioning and vehicle searching process.
Preferably, the four ultra-wideband positioning base stations are respectively a first ultra-wideband positioning base station, a second ultra-wideband positioning base station, a third ultra-wideband positioning base station and a fourth ultra-wideband positioning base station, and the step 5) includes the following steps:
step 5.1) the first ultra-wideband positioning base station sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the first ultra-wideband positioning base station after processing;
step 5.2) the second ultra-wideband positioning base station sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the second ultra-wideband positioning base station after processing;
step 5.3) the third ultra-wideband positioning base station sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the third ultra-wideband positioning base station after processing;
and step 5.4) the fourth ultra-wideband positioning base station sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the fourth ultra-wideband positioning base station after processing.
Preferably, in step 2), the mobile terminal is in communication connection with the vehicle terminal through a 4G or 5G communication network;
and 8), the vehicle terminal sends the coordinate position of the vehicle to the mobile terminal for displaying through a 4G or 5G communication network.
Preferably, the step of calculating the distance between the ultra-wideband positioning base station and the ultra-wideband positioning tag comprises the following steps:
s1) starting timing by taking the time T1 when the ultra-wideband positioning base station sends the ranging characteristic value to the ultra-wideband positioning tag as a starting point;
s2), after receiving the ranging characteristic value, the ultra-wideband positioning tag sends a processed time stamp and returns the ranging characteristic value to the ultra-wideband positioning base station;
s3) the ultra-wideband positioning base station stops timing after receiving the ranging characteristic value returned by the ultra-wideband positioning label, and the time is recorded as T2;
s4) the ultra-wideband positioning base station calculates the distance between the ultra-wideband positioning base station and the ultra-wideband positioning tag according to the time difference between T1 and T2.
Preferably, the method for calculating the coordinate position of the ultra-wideband positioning tag relative to the vehicle at the vehicle end comprises the following steps:
step A), the distance between the first ultra-wideband positioning base station and the ultra-wideband positioning tag received by the vehicle end is respectively set as a, the distance between the second ultra-wideband positioning base station and the ultra-wideband positioning tag is respectively set as b, the distance between the third ultra-wideband positioning base station and the ultra-wideband positioning tag is respectively set as c, and the distance between the fourth ultra-wideband positioning base station and the ultra-wideband positioning tag is respectively set as d;
step B) drawing a circle by taking the first ultra-wideband positioning base station as a circle center, taking the distance a as a radius, taking the second ultra-wideband positioning base station as a circle center, taking the distance B as a radius, taking the third ultra-wideband positioning base station as a circle center, taking the distance c as a radius, taking the fourth ultra-wideband positioning base station as a circle center, and taking the distance d as a radius;
step C) finding out a common intersection point X of the four circles in the step B), wherein the intersection point X is the coordinate position of the ultra-wideband positioning label;
and D) calculating to obtain the coordinate position of the ultra-wideband positioning tag relative to the vehicle according to the coordinate position X of the ultra-wideband positioning tag.
Preferably, the mobile terminal is a mobile phone, and a vehicle searching APP is arranged on the mobile phone;
the mobile phone sends a positioning vehicle searching request through the vehicle searching APP, and vehicle coordinate position information returned by the vehicle end is displayed through the vehicle searching APP.
Preferably, four ultra-wideband positioning base stations are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the vehicle.
In addition, this scheme still provides an automobile, adopts the location car-searching method based on ultra wide band technique as above-mentioned.
Compared with the prior art, the ultra-wideband positioning base station is fixedly arranged on the periphery of the vehicle, and the ultra-wideband positioning label is arranged in the Bluetooth key. When a user needs to position and search a vehicle, a vehicle searching APP of a corresponding mobile phone end is opened, the vehicle searching APP is connected to a vehicle end of a vehicle through mobile communication modes such as 4G/5G and the like, the vehicle end activates a request of broadcasting positioning of an ultra-wideband positioning base station, four ultra-wideband positioning base stations respectively measure distances with ultra-wideband positioning tags in a Bluetooth key to obtain the distance between each ultra-wideband positioning base station and each ultra-wideband positioning tag, then the coordinate position of the ultra-wideband positioning tag in the Bluetooth key relative to the vehicle is obtained through software algorithm conversion, and the position is displayed on the vehicle searching APP of the mobile phone in real time, so that the effect of positioning and searching the vehicle is realized.
Drawings
FIG. 1 is a system block diagram of a positioning and vehicle-searching system based on ultra-wideband technology;
FIG. 2 is a schematic diagram of the distribution of the positions of the UWB positioning base station and the positioning of the Bluetooth key integrated UWB positioning tag;
FIG. 3 is a flow chart of a positioning vehicle-searching method based on ultra-wideband technology according to the present invention;
fig. 4 is a schematic diagram of a positioning principle of the ultra-wideband positioning base station of the present invention.
Description of reference numerals: the system comprises a first ultra-wideband positioning base station 1, a second ultra-wideband positioning base station 2, a third ultra-wideband positioning base station 3, a fourth ultra-wideband positioning base station 4 and a Bluetooth key 5.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
As shown in fig. 1, the positioning and vehicle-searching system based on the ultra-wideband technology comprises a vehicle end, a mobile end, a bluetooth key 5 and an ultra-wideband positioning base station component (UWB base station component);
the mobile terminal is in communication connection with the vehicle terminal and is used for sending a positioning vehicle searching request to the vehicle terminal and receiving vehicle position information fed back by the vehicle terminal;
the vehicle end is in communication connection with the ultra-wideband positioning base station component and is used for activating the ultra-wideband positioning base station component after receiving a positioning vehicle searching request and receiving distance information fed back by the ultra-wideband positioning base station component;
an ultra-wideband positioning label is arranged in the Bluetooth key 5;
the ultra-wideband positioning base station assembly comprises four ultra-wideband positioning base stations (UWB base stations), wherein the four UWB positioning base stations are respectively positioned on the periphery of a vehicle, specifically, the four UWB positioning base stations are respectively a first UWB positioning base station 1, a second UWB positioning base station 2, a third UWB positioning base station 3 and a fourth UWB positioning base station 4, and the four UWB positioning base stations are respectively arranged on the left front part, the right front part, the left rear part and the right rear part of the vehicle (as shown in an attached figure 2);
the ultra-wideband positioning base station is in communication connection with the ultra-wideband positioning tag (as shown in fig. 2), and is used for sending a ranging request to the ultra-wideband positioning tag after receiving an activation signal from a vehicle end, and measuring the distance from the ultra-wideband positioning tag to the ultra-wideband positioning tag after the ultra-wideband positioning tag returns information.
The working principle of the invention is as follows: when the vehicle needs to be positioned and searched, the mobile terminal sends a positioning and searching request; the mobile terminal is in communication connection with the vehicle terminal, the vehicle terminal receives a positioning vehicle-searching request, activates the ultra-wideband positioning base station component, and sends a ranging request to the ultra-wideband positioning tag through the ultra-wideband positioning base station component; after the ultra-wideband positioning base station assembly receives a ranging request response of the ultra-wideband positioning tag, four ultra-wideband positioning base stations in the ultra-wideband positioning base station assembly sequentially send ranging characteristic values to the ultra-wideband positioning tag according to a set sequence, and the ultra-wideband positioning tag respectively returns the received ranging characteristic values of the four ultra-wideband positioning base stations after processing; the four ultra-wideband positioning base stations are respectively calculated according to the returned ranging characteristic values to obtain the distance between each ultra-wideband positioning base station and the ultra-wideband positioning label, and the distance is fed back to a vehicle end; and the vehicle end converts the distance between the four ultra-wideband positioning base stations and the ultra-wideband positioning tag into the coordinate position of the ultra-wideband positioning tag relative to the vehicle and sends the coordinate position to the mobile end for displaying until the positioning and vehicle searching process is finished.
As shown in fig. 3, a method for locating and searching a vehicle based on the ultra-wideband technology, which adopts the system for locating and searching a vehicle based on the ultra-wideband technology, comprises the following steps:
step 1), a mobile terminal sends a positioning vehicle searching request;
step 2) the mobile terminal is in communication connection with the vehicle terminal, and the vehicle terminal receives a positioning vehicle searching request and activates an ultra-wideband positioning base station component;
step 3) the ultra-wideband positioning base station component sends a ranging request to the ultra-wideband positioning tag respectively;
step 4) whether the ultra-wideband positioning base station component receives a ranging request response of the ultra-wideband positioning tag, if so, executing step 5), and if not, returning to execute step 3);
step 5) four ultra-wideband positioning base stations in the ultra-wideband positioning base station assembly sequentially send ranging characteristic values to an ultra-wideband positioning tag according to a set sequence, and the ultra-wideband positioning tag respectively returns the received ranging characteristic values of the four ultra-wideband positioning base stations after processing;
step 6), the four ultra-wideband positioning base stations are respectively calculated according to the returned ranging characteristic values to obtain the distance between each ultra-wideband positioning base station and the ultra-wideband positioning label, and the distance is fed back to a vehicle end;
step 7), the vehicle end converts the distance between the four ultra-wideband positioning base stations and the ultra-wideband positioning tag into the coordinate position of the ultra-wideband positioning tag relative to the vehicle;
step 8) the vehicle end sends the coordinate position of the vehicle to the mobile end for displaying;
step 9) whether the positioning vehicle searching process is finished or not is judged, if yes, the step 10) is executed, and if not, the step 5) is executed;
and step 10) ending the positioning and vehicle searching process.
In this embodiment, step 5) includes the following steps:
step 5.1) the first ultra-wideband positioning base station 1 sends a ranging characteristic value to an ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the first ultra-wideband positioning base station 1 after processing;
step 5.2) the second ultra-wideband positioning base station 2 sends the ranging characteristic value to an ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the second ultra-wideband positioning base station 2 after processing;
step 5.3) the third ultra-wideband positioning base station 3 sends the ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the third ultra-wideband positioning base station 3 after processing;
and step 5.4) the fourth ultra-wideband positioning base station 4 sends the ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the fourth ultra-wideband positioning base station 4 after processing.
In this embodiment, in step 2), the mobile terminal is in communication connection with the vehicle terminal through a 4G or 5G communication network;
and 8), the vehicle terminal sends the coordinate position of the vehicle to the mobile terminal for displaying through a 4G or 5G communication network.
In this embodiment, the calculating the distance between the ultra-wideband positioning base station and the ultra-wideband positioning tag includes the following steps:
s1) starting timing by taking the time T1 when the ultra-wideband positioning base station sends the ranging characteristic value to the ultra-wideband positioning label as a starting point;
s2), after receiving the ranging characteristic value, the ultra-wideband positioning tag marks a processed timestamp and returns the ranging characteristic value to the ultra-wideband positioning base station;
s3) stopping timing after the ultra-wideband positioning base station receives the ranging characteristic value returned by the ultra-wideband positioning label, and recording the time as T2;
s4) the ultra-wideband positioning base station calculates the distance between the ultra-wideband positioning base station and the ultra-wideband positioning tag according to the time difference between T1 and T2.
As shown in fig. 4, in this embodiment, the method for calculating the coordinate position of the ultra-wideband positioning tag relative to the vehicle at the vehicle end includes the following steps:
step A) the distance between a first ultra-wideband positioning base station 1 (a base station A in the attached drawing 4) and an ultra-wideband positioning tag received by a vehicle end is respectively set as a, the distance between a second ultra-wideband positioning base station 2 (a base station B in the attached drawing 4) and the ultra-wideband positioning tag is respectively set as B, the distance between a third ultra-wideband positioning base station 3 (a base station C in the attached drawing 4) and the ultra-wideband positioning tag is respectively set as C, and the distance between a fourth ultra-wideband positioning base station 4 (a base station D in the attached drawing 4) and the ultra-wideband positioning tag is respectively set as D;
step B) taking the first ultra-wideband positioning base station 1 (base station A in the attached drawing 4) as the center of a circle, drawing a circle by taking a distance a as a radius, drawing a circle by taking the second ultra-wideband positioning base station 2 (base station B in the attached drawing 4) as the center of a circle, drawing a circle by taking a distance B as a radius, drawing a circle by taking the third ultra-wideband positioning base station 3 (base station C in the attached drawing 4) as the center of a circle, drawing a circle by taking a distance C as a radius, drawing a circle by taking the fourth ultra-wideband positioning base station 4 (base station D in the attached drawing 4) as the center of a circle, and drawing a circle by taking a distance D as a radius;
step C) finding out a common intersection point X of the four circles in the step B), wherein the intersection point X is the coordinate position of the ultra-wideband positioning label;
and D) calculating the coordinate position of the ultra-wideband positioning tag relative to the vehicle according to the coordinate position X of the ultra-wideband positioning tag.
In this embodiment, the mobile terminal is a mobile phone, and a car-searching APP is arranged on the mobile phone;
the mobile phone sends a positioning vehicle searching request through the vehicle searching APP, and vehicle coordinate position information returned by the vehicle end is displayed through the vehicle searching APP.
In addition, this scheme still provides an automobile, adopts the location car-searching method based on ultra wide band technique as above-mentioned.
Compared with the prior art, the ultra-wideband positioning base station is fixedly arranged on the periphery of the vehicle, and the ultra-wideband positioning label is arranged in the Bluetooth key. When a user needs to position and search a vehicle, a vehicle searching APP of a corresponding mobile phone end is opened, the vehicle searching APP is connected to a vehicle end of a vehicle through mobile communication modes such as 4G/5G and the like, the vehicle end activates a request of broadcasting positioning of an ultra-wideband positioning base station, four ultra-wideband positioning base stations respectively measure distances with ultra-wideband positioning tags in a Bluetooth key to obtain the distance between each ultra-wideband positioning base station and each ultra-wideband positioning tag, then the coordinate position of the ultra-wideband positioning tag in the Bluetooth key relative to the vehicle is obtained through software algorithm conversion, and the position is displayed on the vehicle searching APP of the mobile phone in real time, so that the effect of positioning and searching the vehicle is realized.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (9)
1. A positioning and vehicle-searching system based on an ultra-wideband technology is characterized by comprising a vehicle machine end, a mobile end, a Bluetooth key (5) and an ultra-wideband positioning base station component;
the mobile terminal is in communication connection with the vehicle terminal and is used for sending a positioning vehicle searching request to the vehicle terminal and receiving vehicle position information fed back by the vehicle terminal;
the vehicle end is in communication connection with the ultra-wideband positioning base station component and is used for activating the ultra-wideband positioning base station component after receiving a positioning vehicle searching request and receiving distance information fed back by the ultra-wideband positioning base station component;
an ultra-wideband positioning tag is arranged in the Bluetooth key (5);
the ultra-wideband positioning base station assembly comprises four ultra-wideband positioning base stations, the four ultra-wideband positioning base stations are respectively positioned around a vehicle, and the ultra-wideband positioning base stations are in communication connection with the ultra-wideband positioning tags and are used for sending a distance measurement request to the ultra-wideband positioning tags after receiving an activation signal at the vehicle end and measuring the distance from the ultra-wideband positioning tags to the ultra-wideband positioning tags after the ultra-wideband positioning tags return information.
2. A method for locating and searching vehicles based on ultra-wideband technology, which is characterized in that the system for locating and searching vehicles based on ultra-wideband technology as claimed in claim 1 is adopted, and comprises the following steps:
step 1) the mobile terminal sends a positioning vehicle searching request;
step 2) the mobile terminal is in communication connection with the vehicle terminal, and the vehicle terminal receives a positioning vehicle searching request and activates the ultra-wideband positioning base station component;
step 3) the ultra-wideband positioning base station component sends a ranging request to the ultra-wideband positioning tag;
step 4) whether the ultra-wideband positioning base station component receives a ranging request response of the ultra-wideband positioning tag or not is judged, if yes, the step 5) is executed, and if not, the step 3) is executed;
step 5) four ultra-wideband positioning base stations in the ultra-wideband positioning base station assembly sequentially send ranging characteristic values to the ultra-wideband positioning label according to a set sequence, and the ultra-wideband positioning label respectively returns the received ranging characteristic values of the four ultra-wideband positioning base stations after processing;
step 6) the four ultra-wideband positioning base stations are respectively calculated according to the returned ranging characteristic values to obtain the distance between each ultra-wideband positioning base station and an ultra-wideband positioning label, and the distance is fed back to a vehicle end;
step 7), the vehicle end converts the distance between the four ultra-wideband positioning base stations and the ultra-wideband positioning label into the coordinate position of the ultra-wideband positioning label relative to the vehicle;
step 8) the vehicle end sends the coordinate position of the vehicle to the mobile end for displaying;
step 9) whether the positioning vehicle searching process is finished or not is judged, if yes, the step 10) is executed, and if not, the step 5) is executed;
and step 10) ending the positioning and vehicle searching process.
3. The ultra-wideband technology-based positioning and vehicle-searching method according to claim 2, wherein the four ultra-wideband positioning base stations are a first ultra-wideband positioning base station (1), a second ultra-wideband positioning base station (2), a third ultra-wideband positioning base station (3) and a fourth ultra-wideband positioning base station (4), and the step 5) comprises the following steps:
step 5.1) the first ultra-wideband positioning base station (1) sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the first ultra-wideband positioning base station (1) after processing;
step 5.2) the second ultra-wideband positioning base station (2) sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the second ultra-wideband positioning base station (2) after processing;
step 5.3) the third ultra-wideband positioning base station (3) sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the third ultra-wideband positioning base station (3) after processing;
and step 5.4) the fourth ultra-wideband positioning base station (4) sends a ranging characteristic value to the ultra-wideband positioning tag, and the ultra-wideband positioning tag returns the received ranging characteristic value of the fourth ultra-wideband positioning base station (4) after processing.
4. The ultra wideband technology-based positioning and vehicle-searching method according to claim 3, wherein in step 2), the mobile terminal is in communication connection with the vehicle terminal through a 4G or 5G communication network;
and 8), the vehicle terminal sends the coordinate position of the vehicle to the mobile terminal for displaying through a 4G or 5G communication network.
5. The ultra-wideband technology-based positioning and vehicle-searching method according to claim 4, wherein the ultra-wideband positioning base station calculating the distance to the ultra-wideband positioning tag comprises the following steps:
s1) starting timing by taking the time T1 when the ultra-wideband positioning base station sends the ranging characteristic value to the ultra-wideband positioning tag as a starting point;
s2), after receiving the ranging characteristic value, the ultra-wideband positioning tag sends a processed time stamp and returns the ranging characteristic value to the ultra-wideband positioning base station;
s3) the ultra-wideband positioning base station stops timing after receiving the ranging characteristic value returned by the ultra-wideband positioning label, and the time is recorded as T2;
s4) the ultra-wideband positioning base station calculates the distance between the ultra-wideband positioning base station and the ultra-wideband positioning tag according to the time difference between T1 and T2.
6. The ultra-wideband technology-based positioning and vehicle-searching method according to claim 5, wherein the method for calculating the coordinate position of the ultra-wideband positioning tag relative to the vehicle at the vehicle end comprises the following steps:
step A), the distance between the first ultra-wideband positioning base station (1) and the ultra-wideband positioning tag received by the vehicle end is respectively set as a, the distance between the second ultra-wideband positioning base station (2) and the ultra-wideband positioning tag is respectively set as b, the distance between the third ultra-wideband positioning base station (3) and the ultra-wideband positioning tag is respectively set as c, and the distance between the fourth ultra-wideband positioning base station (4) and the ultra-wideband positioning tag is respectively set as d;
step B), drawing a circle by taking the first ultra-wideband positioning base station (1) as a circle center, taking the distance a as a radius, drawing a circle by taking the second ultra-wideband positioning base station (2) as a circle center, taking the distance B as a radius, drawing a circle by taking the third ultra-wideband positioning base station (3) as a circle center, taking the distance c as a radius, drawing a circle by taking the fourth ultra-wideband positioning base station (4) as a circle center, and taking the distance d as a radius;
step C) finding out a common intersection point X of the four circles in the step B), wherein the intersection point X is the coordinate position of the ultra-wideband positioning label;
and D) calculating to obtain the coordinate position of the ultra-wideband positioning tag relative to the vehicle according to the coordinate position X of the ultra-wideband positioning tag.
7. The ultra-wideband technology based positioning and vehicle-searching method according to claim 6, wherein the mobile terminal is a mobile phone, and a vehicle-searching APP is arranged on the mobile phone;
the mobile phone sends a positioning vehicle searching request through the vehicle searching APP, and vehicle coordinate position information returned by the vehicle end is displayed through the vehicle searching APP.
8. The ultra-wideband technology-based positioning and vehicle-searching method according to claim 7, wherein four ultra-wideband positioning base stations are respectively installed at the left front, the right front, the left rear and the right rear of the vehicle.
9. An automobile, characterized in that the positioning and vehicle-searching method based on the ultra-wideband technology as claimed in any one of claims 2 to 8 is adopted.
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