CN114660972A - Tunnel scene-based GPS/UWB combined system and calibration method - Google Patents

Tunnel scene-based GPS/UWB combined system and calibration method Download PDF

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Publication number
CN114660972A
CN114660972A CN202210336983.0A CN202210336983A CN114660972A CN 114660972 A CN114660972 A CN 114660972A CN 202210336983 A CN202210336983 A CN 202210336983A CN 114660972 A CN114660972 A CN 114660972A
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base station
uwb
positioning
module
gps
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张慧
赵浩翔
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Tianjin University
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Tianjin University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition

Abstract

The invention discloses a GPS/UWB combined base station based on a tunnel scene, which comprises two modules; the first module is a base station module which comprises an MCU control module, a power supply module, a communication module, a GPS positioning module and a UWB positioning module; the GPS positioning module and the UWB positioning module are connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module; the second module is a positioning tag which comprises an MCU control module, a power supply module, a communication module and a UWB positioning module; the UWB positioning module is connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module; the problem of inconvenient absolute measurement in the tunnel is solved.

Description

Tunnel scene-based GPS/UWB combined system and calibration method
Technical Field
The invention relates to the field of tunnel construction scenes, in particular to a GPS/UWB combined base station based on a tunnel scene and a calibration method.
Background
The current tunnel construction scene positioning is mainly based on UWB (ultra wide band) positioning technology, the UWB technology has the characteristics of high precision, strong anti-multipath effect and low power consumption in short-distance positioning, has a very good positioning effect in a space of a medium-short distance range, and can perform high-precision positioning in a tunnel environment. The limitation of ultra-wideband positioning is that the measurement result is based on the relative position of the base station, and if the absolute position of the target in the geodetic coordinate system is to be obtained, the base station position needs to be calibrated and coordinate conversion calculation needs to be performed. The global navigation satellite system is the most important technical means for absolutely positioning the measured target, and the GPS system can quickly and accurately provide information such as the position, the speed and the like of the measured target in real time, thereby being widely applied to the field of outdoor positioning and navigation. The GPS transceiver needs to be in an outdoor good observation environment, and can obtain a good positioning result by receiving signals of more than four satellites at the same time, but there is a problem of serious satellite signal attenuation shielding in a tunnel environment.
In order to realize absolute positioning in a tunnel scene, a GPS and a UWB positioning technology are combined. At present, the GPS and UWB combined positioning is mostly used in the scene of frequent switching of targets indoors and outdoors, and the method can be summarized as switching between the GPS positioning method and the UWB positioning method according to the state of the tag. For example, a positioning area is divided, only GPS positioning is adopted when entering the marked GPS positioning area, and only UWB positioning is adopted when entering the UWB positioning area; or directly comparing the number of GPS satellites received by the tag with the number of UWB base stations, and judging which positioning signal data is more stable and has higher precision. At present, a rapid and convenient tunnel absolute positioning method is lacked, and the absolute coordinate position of a measured target in a tunnel can be directly obtained.
Disclosure of Invention
The invention provides a GPS/UWB combined base station based on a tunnel scene and a calibration method, aiming at providing a tunnel personnel absolute positioning device with strong universality, high efficiency and high precision.
The specific technical scheme is as follows:
the GPS/UWB combined base station based on the tunnel scene comprises two modules; the first module is a base station module which comprises an MCU control module, a power supply module, a communication module, a GPS positioning module and a UWB positioning module; the GPS positioning module and the UWB positioning module are connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module;
the second module is a positioning tag which comprises an MCU control module, a power supply module, a communication module and a UWB positioning module; the UWB positioning module is connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module.
Preferably, a calibration method for a GPS/UWB combined base station based on a tunnel scene, the calibration method for the first module includes the following steps:
step S1: when the base station is initially calibrated, the GPS positioning module acquires satellite positioning data and settles to obtain a geodetic coordinate of the base station, and the UWB positioning module acquires the positioning of the relative position of the base station;
step S2: when the system enters the transfer process from the calibration area to the positioning area of the base station, the MCU control module closes the GPS module and only the UWB module is used for carrying out the relative positioning of the base station;
step S3: the MCU control module processes UWB positioning information and GPS positioning information of the UWB/GPS combined base station in an initialization process and calculates all parameters in a conversion matrix from a UWB coordinate system to a GPS coordinate system;
step S4: and converting the UWB coordinates of the positioning tag into GPS coordinates in the process of positioning the tag.
Preferably, the second module comprises the following phases:
the first stage is the initial calibration of the base station;
the second stage is a stage of transferring the base station from the calibration area to the positioning area;
the third stage is a positioning tag measurement stage.
Preferably, the first stage comprises the sub-steps of:
substep S11: numbering the base stations, namely a base station No. 1, a base station No. 2, a base station No. 3 and a base station No. 4 in sequence according to the ID numbers;
substep S12: arranging a UWB/GPS combined base station outside a tunnel needing positioning;
substep S13: calibrating a system UWB positioning module coordinate system, determining a UWB positioning module coordinate system O1X1Y1Z1, taking a base station No. 1 as an origin base station, taking the position of the base station No. 1 as a coordinate system origin O1, selecting a base station No. 2 as a pointing base station, taking the position of the pointing base station No. 2 as a Y1 direction, taking a vertical direction as a Z1 direction, and calculating the X1 direction based on Y1 and Z1;
substep S14: according to the distance information of the base stations measured by the UWB positioning module, calculating the positions of all the base stations under the coordinate system of the UWB positioning module;
substep S15: calculating a deviation angle theta of the coordinate axis O1Y1 relative to true north based on the GPS coordinates obtained by the GPS module of the base station;
substep S16: and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin base station and the north deviation angle theta.
Preferably, the second stage comprises the following sub-steps:
step S21: storing the current position information of the base station No. 1, moving the base station No. 1 towards the tunnel direction, and deploying the base station No. 1 as far as possible under the condition that UWB communication signals of the base station No. 1 and other base stations are good;
step S22: adding new position information of the No. 1 base station in the system through UWB communication positioning of the No. 1 base station and other three base stations;
step S23: storing the current position information of the No. 2 base station, moving the No. 2 base station towards the tunnel direction, and deploying the No. 2 base station as far as possible under the condition that UWB communication signals of the No. 2 base station and other base stations are good;
step S24: adding new position information of the No. 2 base station in the system through UWB communication positioning of the No. 2 base station and other three base stations;
step S25: storing the current position information of the No. 3 base station, moving the No. 3 base station to the tunnel direction, and deploying the No. 3 base station as far as possible under the condition that UWB communication signals of the No. 3 base station and other base stations are good;
step S26: adding new position information of the No. 3 base station in the system through UWB communication positioning of the No. 3 base station and other three base stations;
step S27: storing the current position information of the No. 4 base station, moving the No. 4 base station to the tunnel direction, and deploying the No. 4 base station as far as possible under the condition that UWB communication signals of the No. 4 base station and other base stations are good;
step S28: adding new No. 4 base station position information in the system through UWB communication positioning of the No. 4 base station and other three base stations;
step S29: an operator judges whether the new base station deployment position reaches a target positioning area or not, and if so, a positioning label measurement stage is started; if not, the step of transferring the base station from S21 to S29 is repeated.
Preferably, the third stage comprises the following sub-steps:
step S31: starting a positioning tag to supply power;
step S32: obtaining the position of a positioning label under a UWB coordinate system through UWB communication positioning, and obtaining a coordinate system transformation matrix parameter according to initial calibration of a base station;
step S33: and converting the UWB coordinate position of the positioning tag into a position in a GPS coordinate system.
The GPS/UWB combined system based on the tunnel scene and the calibration method have the following beneficial effects:
1. the UWB/GPS combined positioning method and the system provided by the invention only need to receive the GPS signal in the initial process, and obtain the absolute coordinate through UWB positioning and coordinate conversion in the tunnel, thereby solving the problem that the position of the target to be measured under the geodetic coordinate system can not be obtained under the working environment without the GPS signal.
2. According to the UWB/GPS combined positioning method and system provided by the invention, only the base station needs to be moved when the positioning scene is changed, and the position of each base station in a new working area is automatically calculated after the base station is moved, so that the flexibility of system deployment is enhanced.
3. The UWB/GPS combined positioning method and the system provided by the invention only use GPS positioning in the initial calibration process of the base station, and the subsequent positioning work is completed by UWB positioning without frequent switching between the GPS positioning and the UWB positioning, thereby improving the reliability and the stability of the system.
Drawings
FIG. 1 is a block diagram of a base station according to the present invention;
FIG. 2 is a schematic view of a label module of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a schematic view of a calibration scenario of the present invention;
fig. 5 is a schematic diagram of a base station transfer process according to the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
In the related technology, the UWB and GPS combined positioning system mostly switches between UWB and GPS according to the position and the movement trend of the tag, the position of the base station is not changed after setting, and when the tag is in a position without a GPS signal, positioning completely refers to the UWB base station absolute position input by human setting. In the tunnel construction environment, the construction site needs to frequently change the position of the base station along with the progress to the in-process that advances to inside, and the absolute position of the UWB base station is inconvenient to set up in advance to can't obtain the position of the positioning label in the tunnel under the geodetic coordinate system. In view of this, the embodiment of the present invention provides a UWB and GPS combined positioning method to solve the problem of obtaining the absolute position of a tag in a tunnel.
The embodiment provides a combined UWB and GPS positioning system which comprises a combined UWB/GPS base station and a positioning tag.
As shown in FIG. 1, the UWB/GPS combined base station comprises an MCU control module, a power supply module, a communication module, a GPS positioning module and a UWB positioning module. When the base station is initially calibrated, the GPS positioning module acquires satellite positioning data and settles to obtain a geodetic coordinate of the base station, and the UWB positioning module acquires the positioning of the relative position of the base station; when the system enters the transfer process from the calibration area to the positioning area of the base station, the MCU controls to close the GPS module, and the relative positioning of the base station is carried out only through the UWB module. The MCU module processes UWB positioning information and GPS positioning information of the UWB/GPS combined base station in an initialization process, and calculates all parameters in a conversion matrix from a UWB coordinate system to a GPS coordinate system; and converting the UWB coordinates of the positioning tag into GPS coordinates in the process of positioning the tag.
As shown in fig. 2, the positioning tag includes an MCU control module, a power supply module, a communication module, and a UWB positioning module.
As shown in fig. 3, the UWB and GPS combined positioning method provided by the present embodiment is divided into three stages: the first stage is the initial calibration of the base station; the second stage is a stage of transferring the base station from the calibration area to the positioning area; the third stage is a positioning tag measurement stage.
The initial calibration process of the base station comprises the following steps:
as shown in fig. 4, the base stations are numbered, and are base station No. 1, base station No. 2, base station No. 3, and base station No. 4 in order of ID number. And arranging the UWB/GPS combined base station outside the tunnel needing positioning. Calibrating a system UWB coordinate system, determining a UWB coordinate system O1X1Y1Z1, taking a No. 1 base station as an origin base station, taking the position of the base station as a coordinate system origin O, selecting a No. 2 base station as a pointing base station, taking the position of the base station as an X direction, taking a vertical direction as a Z direction, and calculating a Y direction based on the X direction and the Z direction; calculating the positions of all base stations under a UWB coordinate system according to the distance information of the base stations measured by the UWB; calculating a deviation angle theta of the coordinate axis O1Y1 relative to true north based on the GPS coordinates obtained by the GPS module of the base station; and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin base station and the north deviation angle theta.
The transfer process of the base station from the calibration area to the positioning area comprises the following steps:
as shown in fig. 5, the current location information of the base station No. 1 is stored, and the base station No. 1 is moved in the tunnel direction, so that the base station No. 1 is deployed as far as possible under the condition that UWB communication signals between the base station No. 1 and other base stations are good. Adding new position information of the No. 1 base station in the system through UWB communication positioning of the No. 1 base station and other three base stations;
and storing the current position information of the No. 2 base station, moving the No. 2 base station towards the tunnel direction, and deploying the No. 2 base station as far as possible under the condition that UWB communication signals of the No. 2 base station and other base stations are good. Adding new position information of the No. 2 base station in the system through UWB communication positioning of the No. 2 base station and other three base stations;
and storing the current position information of the No. 3 base station, moving the No. 3 base station towards the tunnel direction, and deploying the No. 3 base station as far as possible under the condition that UWB communication signals of the No. 3 base station and other base stations are good. Adding new position information of the No. 3 base station in the system through UWB communication positioning of the No. 3 base station and other three base stations;
and storing the current position information of the No. 4 base station, moving the No. 4 base station to the tunnel direction, and deploying the No. 4 base station as far as possible under the condition that UWB communication signals of the No. 4 base station and other base stations are good. Adding new position information of the No. 4 base station in the system through UWB communication positioning of the No. 4 base station and other three base stations;
an operator judges whether the new base station deployment position reaches a target positioning area or not, and if so, a positioning label measurement stage is started; if not, repeating the base station transferring step.
The positioning label measuring stage comprises the following steps:
and starting the positioning tag to supply power, obtaining the position of the positioning tag under a UWB coordinate system through UWB communication positioning, and converting the UWB coordinate position of the positioning tag into the position under a GPS coordinate system according to coordinate system conversion matrix parameters obtained by the initial calibration of the base station.

Claims (6)

1. The GPS/UWB combined system based on the tunnel scene is characterized by comprising two modules; the first module is a base station module which comprises an MCU control module, a power supply module, a communication module, a GPS positioning module and a UWB positioning module; the GPS positioning module and the UWB positioning module are connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module;
the second module is a positioning tag which comprises an MCU control module, a power supply module, a communication module and a UWB positioning module; the UWB positioning module is connected with the MCU control module, and the MCU control module is connected with the power supply module and the communication module.
2. A calibration method of a GPS/UWB combined base station based on a tunnel scene is characterized in that the calibration method of a first module comprises the following steps:
step S1: when the base station is initially calibrated, the GPS positioning module acquires satellite positioning data and settles to obtain a geodetic coordinate of the base station, and the UWB positioning module acquires the positioning of the relative position of the base station;
step S2: when the system enters the transfer process from the calibration area to the positioning area of the base station, the MCU control module closes the GPS module and only the UWB module is used for carrying out the relative positioning of the base station;
step S3: the MCU control module processes UWB positioning information and GPS positioning information of the UWB/GPS combined base station in an initialization process and calculates all parameters in a conversion matrix from a UWB coordinate system to a GPS coordinate system;
step S4: and converting the UWB coordinates of the positioning tag into GPS coordinates in the process of positioning the tag.
3. The method for calibrating a GPS/UWB combination base station based on tunnel scene of claim 2, wherein the second module comprises the following stages:
the first stage is the initial calibration of the base station;
the second stage is a stage of transferring the base station from the calibration area to the positioning area;
the third stage is a positioning tag measurement stage.
4. The method for calibrating a GPS/UWB combination base station based on a tunnel scene as claimed in claim 2, wherein the first stage comprises the following sub-steps:
sub-step S11: numbering the base stations, namely a base station No. 1, a base station No. 2, a base station No. 3 and a base station No. 4 in sequence according to the ID numbers;
substep S12: arranging a UWB/GPS combined base station outside a tunnel needing positioning;
substep S13: calibrating a system UWB positioning module coordinate system, determining a UWB positioning module coordinate system O1X1Y1Z1, taking a base station No. 1 as an origin base station, taking the position of the base station No. 1 as a coordinate system origin O1, selecting a base station No. 2 as a pointing base station, taking the position of the pointing base station No. 2 as a Y1 direction, taking the vertical direction as a Z1 direction, and calculating the X1 direction based on Y1 and Z1;
substep S14: according to the distance information of the base stations measured by the UWB positioning module, calculating the positions of all the base stations under the coordinate system of the UWB positioning module;
substep S15: calculating a deviation angle theta of the coordinate axis O1Y1 relative to true north based on the GPS coordinates obtained by the GPS module of the base station;
substep S16: and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin base station and the north deviation angle theta.
5. The calibration method of a GPS/UWB combined base station based on tunnel scene as claimed in claim 2, the second stage comprises the following sub-steps:
step S21: storing the current position information of the No. 1 base station, moving the No. 1 base station to the tunnel direction, and deploying the No. 1 base station as far as possible under the condition that UWB communication signals of the No. 1 base station and other base stations are good;
step S22: adding new position information of the No. 1 base station in the system through UWB communication positioning of the No. 1 base station and other three base stations;
step S23: storing the current position information of the No. 2 base station, moving the No. 2 base station towards the tunnel direction, and deploying the No. 2 base station as far as possible under the condition that UWB communication signals of the No. 2 base station and other base stations are good;
step S24: adding new position information of the No. 2 base station in the system through UWB communication positioning of the No. 2 base station and other three base stations;
step S25: storing the current position information of the No. 3 base station, moving the No. 3 base station to the tunnel direction, and deploying the No. 3 base station as far as possible under the condition that UWB communication signals of the No. 3 base station and other base stations are good;
step S26: adding new position information of the No. 3 base station in the system through UWB communication positioning of the No. 3 base station and other three base stations;
step S27: storing the current position information of the No. 4 base station, moving the No. 4 base station to the tunnel direction, and deploying the No. 4 base station as far as possible under the condition that UWB communication signals of the No. 4 base station and other base stations are good;
step S28: adding new No. 4 base station position information in the system through UWB communication positioning of the No. 4 base station and other three base stations;
step S29: an operator judges whether the new base station deployment position reaches a target positioning area or not, and if so, a positioning label measurement stage is started; if not, the S21-S29 transition base station steps are repeated.
6. The method for calibrating a GPS/UWB combination base station based on a tunnel scenario as claimed in claim 2, wherein the third stage comprises the following sub-steps:
step S31: starting a positioning tag to supply power;
step S32: obtaining the position of a positioning label under a UWB coordinate system through UWB communication positioning, and obtaining a coordinate system transformation matrix parameter according to initial calibration of a base station;
step S33: and converting the UWB coordinate position of the positioning tag into a position in a GPS coordinate system.
CN202210336983.0A 2022-03-31 2022-03-31 Tunnel scene-based GPS/UWB combined system and calibration method Pending CN114660972A (en)

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CN111965684A (en) * 2020-09-03 2020-11-20 江苏园上园智能科技有限公司 High-precision positioning technology-based explaining device, explaining method and explaining system
CN113280815A (en) * 2021-07-19 2021-08-20 北京航空航天大学 Unmanned aerial vehicle bee colony room-entering positioning system

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Publication number Priority date Publication date Assignee Title
US20170255803A1 (en) * 2016-03-03 2017-09-07 Solaredge Technologies Ltd. Methods for mapping power generation installations
CN108957506A (en) * 2018-07-15 2018-12-07 合肥市智信汽车科技有限公司 A kind of vehicle positioning method and device
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