CN114578406B - Method for fusing navigation positioning based on correction of Beidou and radio frequency identification - Google Patents
Method for fusing navigation positioning based on correction of Beidou and radio frequency identification Download PDFInfo
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- CN114578406B CN114578406B CN202210050918.1A CN202210050918A CN114578406B CN 114578406 B CN114578406 B CN 114578406B CN 202210050918 A CN202210050918 A CN 202210050918A CN 114578406 B CN114578406 B CN 114578406B
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- beidou
- radio frequency
- frequency identification
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a method for fusing navigation and positioning based on correcting Beidou and radio frequency identification, which comprises the following steps: establishing a target area; planning an initial navigation driving path; correcting the Beidou and inertial navigation based on radio frequency identification; the Beidou is matched with a target object of a radio frequency identification technology; the differential Beidou and the radio frequency identification time are synchronously realized; differential Beidou positioning based on a radio frequency identification virtual differential array is realized; computing EKF data fusion for task offloading based on multiple access edges; optimizing the navigation information ultimately offloads the target object in the target area. By the method, the vehicle-mounted container can be safely and accurately transported to the designated target area. The method has the advantages of non-contact, low cost, high precision, high reliability, high practicability and the like, and can be helpful for improving the process, organization and automation degree in the container goods circulation process.
Description
Technical Field
The invention relates to the technical field of container safe transportation, in particular to a method for fusing navigation and positioning based on correction of Beidou and radio frequency identification.
Background
Container transportation is a cargo handling method in which a container is used as a transportation carrier and cargoes are assembled into a container unit. The classified goods are loaded into the container, so that the damage of the goods can be effectively reduced, the additional loss is avoided, the workload of workers can be reduced, and the most important thing is to realize the door-to-door transportation of the goods more efficiently. The container transportation can effectively realize the flow, organization, mechanization and automation in the cargo circulation.
The container positioning technology belongs to the most central part in the automation control theory of the container. At present, the container is mainly positioned by a radio frequency identification system (RFID) technology, a GPS/BDS positioning technology, a bar code positioning technology and the like. However, the unloading environment of the container is severe, the shielding is severe, the container is limited by monitoring conditions, the requirement for high-precision positioning is difficult to meet, and even whether the goods are unloaded in the electronic fence is difficult to distinguish. The conventional method for obtaining the container positioning is time-consuming, labor-consuming, high in cost and influenced by people. In addition, personnel access is also strictly controlled during cargo handling. Therefore, how to timely and effectively obtain the transportation path and position the container with high precision is an urgent problem to be solved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for correcting the Beidou and radio frequency identification fusion navigation positioning, which comprises the following steps:
step one, establishing a target area;
step two, planning an initial navigation driving path;
correcting the Beidou and inertial navigation based on radio frequency identification;
step four, matching of the Beidou and a target object of a radio frequency identification technology is achieved;
step five, synchronously realizing the differential Beidou and the radio frequency identification time;
step six, realizing differential Beidou positioning based on a radio frequency identification virtual differential array;
seventhly, EKF data fusion unloaded based on multi-access edge computing tasks;
and step eight, optimizing the navigation information and finally unloading the target object in the target area.
As a further improvement of the invention, the first step is specifically as follows: and arranging a radio frequency identification electronic tag and a radio frequency identification reader-writer in the positioning space according to rules, and determining a target area through the radio frequency identification electronic tag.
As a further improvement of the invention, the second step is specifically as follows: a data processor, a communication module and an electronic tag are arranged on the target object; and planning an initial navigation driving path according to the position information of the electronic tag of the target object and the position information of the target area through the data processor and the communication module.
As a further improvement of the invention, the third step is specifically as follows: when the target object moves to an area with poor Beidou navigation signals, positioning is carried out by means of inertial navigation; when the target object approaches the radio frequency identification reader-writer, the precise position of the target object is precisely obtained through the positioning technology of the radio frequency identification, the position and the state parameter of navigation are reset, and a precise path is generated through multiple time matching; pseudo-range correction is carried out on Beidou positioning data with poor signals at the same time of radio frequency identification positioning, and after the Beidou positioning data is far away from the radio frequency identification positioning, auxiliary inertial navigation positioning can be carried out by adopting the corrected Beidou positioning data in a short time; the Beidou, inertial navigation and radio frequency identification are adopted to form a multi-sensor dispersed fusion structure for positioning.
As a further improvement of the invention, the fourth step is specifically as follows: when the target object is close to the unloading target area, a Beidou differential system is adopted to position the target object; and meanwhile, the radio frequency identification reader-writer is used for reading the electronic tag of the target object, and the positioning of the radio frequency identification and the observation information of the Beidou are determined to act on the same target, so that the matching of the target object is completed.
As a further improvement of the invention, the fifth step is specifically as follows: keeping the sampling interval period of the Beidou differential observation data consistent with the sampling interval period after the radio frequency identification multiple observation data are fused.
As a further improvement of the invention, the sixth step is specifically: the radio frequency identification electronic tag is accurately positioned, when an object passes through the radio frequency identification electronic tag, the accurate position of the object can be known, meanwhile, a Beidou receiver arranged on the object obtains a pseudo range value of Beidou differential measurement, a Beidou and radio frequency identification differential system is formed, a virtual reference station is formed, the acquisition of a differential correction value can be completed, the system error of the Beidou is corrected, and the positioning accuracy is improved.
As a further improvement of the invention, the seventh step is specifically: and (3) applying a 5G information transmission technology, and adopting edge calculation task unloading to preferentially process the Beidou difference of the target object and the radio frequency identification positioning information fusion, thereby realizing the rapid and accurate positioning of the target object.
As a further improvement of the present invention, the step eight specifically comprises: transmitting the accurate position information of the target object to a data processor, continuously optimizing navigation information by the data processor, and finally unloading the target object in a target area; and if the target object is not unloaded in the target area, continuing to work according to the method from the third step to the seventh step.
As a further improvement of the invention, the object is a vehicle-mounted container.
Compared with the prior art:
the method based on the correction of the Beidou and the radio frequency identification integration navigation positioning is adopted, so that the precise loading and unloading of container cargoes are realized, and the safety of the cargoes is guaranteed; the method has the advantages of high precision, low cost, non-contact, high reliability and high practicability, and is favorable for improving the efficient and safe loading and unloading of container goods.
Drawings
Fig. 1 is a diagram of a vehicle-mounted container positioning system according to an embodiment of the present invention.
In the figure:
1. a travel path; 2. a reference station; 3. a radio frequency identification electronic tag; 4. a radio frequency identification reader; 5. a vehicle-mounted container.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
the invention provides a method for fusing navigation and positioning based on correction of Beidou and radio frequency identification, which comprises the following steps:
step one, establishing a target area
As shown in fig. 1, a reference station 2, a plurality of radio frequency identification electronic tags 3 and four RFID readers 4 are first set, and the radio frequency identification electronic tags 3 and the RFID readers 4 are regularly deployed in a positioning space; obtaining the relative positions of the radio frequency identification electronic tag and the RFID reader-writer according to the accurate position of the reference station 2, and storing the basic information of the devices in the reference station 2; meanwhile, the unloading target area of the vehicle-mounted container 5 is determined through the radio frequency identification electronic tag 3.
Step two, planning an initial navigation driving path
The vehicle-mounted container 5 is provided with a data processor, a communication module and an electronic tag; the electronic tag is used for displaying the position information of the vehicle-mounted container; the communication module is used for receiving information of the Beidou satellite, the reference station 2, the RFID reader-writer 4 and the radio frequency identification electronic tag 3 and transmitting the information to the data processor; the data processor is used for planning an initial navigation driving path 1 according to the position information of the electronic tag of the vehicle-mounted container 5 and the position information of the target area.
Correcting Beidou and inertial navigation based on RFID
When the vehicle-mounted container 5 moves to an area with poor Beidou navigation signals, positioning is carried out by means of inertial navigation; when approaching the RFID reader-writer 4, accurately acquiring the accurate position of the vehicle-mounted container 5 by the RFID positioning technology, resetting the navigation position and state parameters, and generating an accurate path through multiple time matching; in addition, pseudo range correction is carried out on Beidou positioning data with poor signals through RFID positioning, and after the Beidou positioning data is far away from the RFID positioning, auxiliary inertial navigation positioning can be carried out by adopting the corrected Beidou positioning data in a short time; the Beidou, inertial navigation and RFID are adopted to form a multi-sensor dispersed fusion structure for positioning, so that the purposes of accurate positioning and navigation are achieved.
Step four, realizing matching of Beidou and RFID target object
When the vehicle-mounted container 5 is close to an unloading target area, a Beidou differential system is adopted to position the vehicle-mounted container; and meanwhile, an electronic tag of a vehicle-mounted container 5 is read through an RFID reader-writer 4, information of the electronic tag of the vehicle-mounted container 5 comprises model information of a vehicle, a container basic condition and a vehicle-mounted Beidou, positioning of the RFID and observation information of the Beidou are determined to act on the same target, and target object matching is completed.
Step five, realizing time synchronization of differential Beidou and RFID
The sampling interval periods of the Beidou differential observation data and the RFID observation data are respectively T1 and T2, because the data acquisition frequency of the RFID is higher than the Beidou pseudo-range differential data acquisition frequency, T1 is more than T2, T1= aT2 (a is more than 1) is set, and if a is not an integer, an interpolation and extrapolation method is adopted to perform periodic fitting to form an integral multiple relation; for Beidou, the sampling interval T1 of the Beidou satellite communication system can be divided into a T2, so that a least square method can be adopted to perform data fusion on a measured values of the RFID observation data for a time, the consistency of data periods is realized, the desynchronization of target measurement caused by deviation is eliminated, and the influence of time deviation on data fusion is eliminated.
Step six, realizing differential Beidou positioning based on RFID virtual differential array
The radio frequency identification electronic tag is accurately positioned by adopting a signal arrival Phase Difference (PDOA) method, when a vehicle passes through the radio frequency identification electronic tag, the accurate position of the vehicle can be known, meanwhile, a vehicle-mounted Beidou receiver obtains a pseudo-range value of Beidou differential measurement, a Beidou and RFID differential system is formed, a virtual reference station is formed, and the acquisition of a differential correction value can be completed. The general Beidou system needs to broadcast the differential correction value to a user through a wireless signal, but the signal transmission is not needed for the virtual differential station, because the user is the virtual differential station, a reference station receiver part (a Beidou receiver on the vehicle) and an accurate positioning part (a radio frequency identification electronic tag) of the virtual differential station are also divided into two parts along with the departure of the vehicle from the radio frequency identification electronic tag, and the vehicle takes away the required differential correction value. At the moment, the role of the vehicle-mounted Beidou is converted into a user receiver, and the difference correction value obtained previously is used for positioning. When the vehicle encounters the next tag, the vehicle-mounted Beidou is converted into a reference station receiver, and the reference station receiver is fused with the accurate position information provided by the tag to calculate a new difference correction value. Along with the movement of the vehicle, the RFID virtual differential array is changed continuously, and the virtual differential array with the highest precision is ensured to be used for accurately positioning the container vehicle.
The radio frequency identification electronic tag can not only correct vehicle positioning, but also form a virtual differential station which is continuously combined and separated together with a vehicle-mounted Beidou. Compared with the traditional differential station, the differential station has the following characteristics: first, the spacing of the rfid tags is much smaller than the base length of a typical local area difference system, so that the difference correction is more accurate. Second, the difference correction amount is not transmitted to the user through a wireless signal, and the user does not need to support receiving of the Beidou data. The vehicle-mounted Beidou is converted between two roles of the reference station receiver and the user receiver, and when the vehicle-mounted Beidou is converted from the reference station receiver to the user receiver, the difference correction value obtained by the vehicle-mounted Beidou is carried away naturally and used for positioning correction of the vehicle-mounted Beidou. Thirdly, the number of differential stations is much greater than that of the ordinary differential system differential stations. In fact, the tag on the road implements a differential array, and as the travel distance of the vehicle increases, the source of the differential correction amount obtained by the vehicle is not a certain "virtual differential station", but a "virtual differential station" formed by all tags encountered by the vehicle, and the differential correction amount obtained by the differential array has a smaller variance than that generated by a single differential station, and as the size of the differential array increases, the variance of the differential correction amount becomes smaller and smaller.
Seventhly, EKF data fusion based on multi-access edge computing (MEC) task unloading
For RFID, sampling depends on interval tag deployment and vehicle speed, and the requirements on data transmission and processing are very high; therefore, for the vehicle-mounted container in the unloading target area, after the differential Beidou positioning data and the RFID positioning data are time-synchronized, information is not processed on equipment, but a 5G information transmission technology is applied, the Beidou base station information, the vehicle-mounted Beidou receiver information and the positioning information obtained by the RFID are all uploaded to MEC equipment, the MEC task unloading intelligent processing positioning information is adopted, the task time delay is reduced to the maximum extent, and the EKF data fusion technology is further adopted to realize the rapid fusion and the accurate positioning of data.
Step eight, optimizing navigation information and finally unloading the target object in the target area
The accurate position information of the vehicle-mounted container 5 is transmitted to the data processor, and the data processor continuously optimizes navigation information, so that the vehicle-mounted container 5 is safely and accurately unloaded in a designated area; if the safe and accurate unloading of the vehicle-mounted container 5 in the designated area is not realized, the operation is continued according to the method from the third step to the seventh step.
And (4) conclusion:
the method based on the correction of the Beidou and the radio frequency identification fusion navigation positioning, which is provided by the specific embodiment, realizes the accurate loading and unloading of container goods and guarantees the safety of the goods; the method has the advantages of high precision, low cost, non-contact, high reliability and high practicability, and is beneficial to improving the high efficiency and safe loading and unloading of container goods; in addition, the method is also helpful for improving the degree of flow, organization and automation in the process of container cargo circulation.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for fusing navigation and positioning based on correction of Beidou and radio frequency identification is characterized by comprising the following steps:
step one, establishing a target area;
step two, planning an initial navigation driving path;
correcting the Beidou and inertial navigation based on radio frequency identification;
step four, matching of the Beidou satellite and a target object of a radio frequency identification technology is achieved;
step five, synchronously realizing the differential Beidou and the radio frequency identification time;
step six, realizing differential Beidou positioning based on a radio frequency identification virtual differential array;
seventhly, EKF data fusion based on multi-access edge computing task unloading;
step eight, optimizing navigation information and finally unloading the target object in the target area;
the third step is specifically as follows: when the target object moves to an area with poor Beidou navigation signals, positioning is carried out by means of inertial navigation; when the target object approaches the radio frequency identification reader-writer, the precise position of the target object is precisely obtained through the positioning technology of the radio frequency identification, the position and the state parameter of navigation are reset, and a precise path is generated through multiple time matching; pseudo-range correction is carried out on Beidou positioning data with poor signals at the same time of radio frequency identification positioning, and after the Beidou positioning data is far away from the radio frequency identification positioning, auxiliary inertial navigation positioning can be carried out by adopting the corrected Beidou positioning data in a short time; the Beidou, inertial navigation and radio frequency identification are adopted to form a multi-sensor dispersed fusion structure for positioning.
2. The method according to claim 1, characterized in that said step one is in particular: and arranging a radio frequency identification electronic tag and a radio frequency identification reader-writer in the positioning space according to rules, and determining a target area through the radio frequency identification electronic tag.
3. The method according to claim 1, wherein the second step is specifically: the target object is provided with a data processor, a communication module and an electronic tag; and planning an initial navigation driving path according to the position information of the electronic tag of the target object and the position information of the target area through the data processor and the communication module.
4. The method according to claim 1, wherein the fourth step is specifically: when the target object is close to the unloading target area, a Beidou differential system is adopted to position the target object; and meanwhile, the radio frequency identification reader-writer is used for reading the electronic tag of the target object, and the positioning of the radio frequency identification and the observation information of the Beidou are determined to act on the same target, so that the matching of the target object is completed.
5. The method according to claim 1, wherein the step five is specifically: keeping the sampling interval period of the Beidou differential observation data consistent with the sampling interval period after the radio frequency identification multiple observation data are fused.
6. The method according to claim 1, wherein the sixth step is specifically: the radio frequency identification electronic tag is accurately positioned, when an object passes through the radio frequency identification electronic tag, the accurate position of the object can be known, meanwhile, a Beidou receiver arranged on the object obtains a pseudo range value of Beidou differential measurement, a Beidou and radio frequency identification differential system is formed, a virtual reference station is formed, the acquisition of a differential correction value can be completed, the system error of the Beidou is corrected, and the positioning accuracy is improved.
7. The method according to claim 1, wherein the seventh step is specifically: and (3) applying a 5G information transmission technology, and adopting edge calculation task unloading to preferentially process the Beidou difference of the target object and the radio frequency identification positioning information fusion, thereby realizing the rapid and accurate positioning of the target object.
8. The method according to claim 1, wherein the eighth step is specifically: transmitting the accurate position information of the target object to a data processor, continuously optimizing navigation information by the data processor, and finally unloading the target object in a target area; and if the target object is not unloaded in the target area, continuing to work according to the method from the third step to the seventh step.
9. The method of claim 1, wherein the object is a vehicle container.
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| US11016198B2 (en) * | 2015-05-06 | 2021-05-25 | Here Global B.V. | Broadcast transmission of information indicative of a pseudorange correction |
| CN111256708A (en) * | 2020-02-17 | 2020-06-09 | 青岛黄海学院 | Vehicle-mounted integrated navigation method based on radio frequency identification |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846793A (en) * | 2015-12-07 | 2017-06-13 | 北京航天长峰科技工业集团有限公司 | A kind of real-time road traffic information collecting method based on the Big Dipper |
| CN113176600A (en) * | 2021-04-30 | 2021-07-27 | 深圳中科天巡信息技术有限公司 | Port vehicle positioning device and method integrating Beidou, RFID and video identification modes |
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