CN116299173B - Tunnel positioning method and system based on laser ranging and RFID technology - Google Patents
Tunnel positioning method and system based on laser ranging and RFID technology Download PDFInfo
- Publication number
- CN116299173B CN116299173B CN202310020474.1A CN202310020474A CN116299173B CN 116299173 B CN116299173 B CN 116299173B CN 202310020474 A CN202310020474 A CN 202310020474A CN 116299173 B CN116299173 B CN 116299173B
- Authority
- CN
- China
- Prior art keywords
- tunnel
- positioning
- rfid
- tag
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
- G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0269—Inferred or constrained positioning, e.g. employing knowledge of the physical or electromagnetic environment, state of motion or other contextual information to infer or constrain a position
- G01S5/02695—Constraining the position to lie on a curve or surface
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to the technical field of driving positioning in a tunnel, and particularly relates to a tunnel positioning technology based on laser ranging and RFID technology, in particular to a real-time positioning method of a mobile platform/vehicle in the tunnel. The tunnel positioning technology based on the laser ranging and RFID technology solves the problems that the tunnel positioning technology in the prior art is difficult to arrange and cannot meet the requirements of different accuracy in the transverse direction and the longitudinal direction. The tunnel positioning technology comprises the steps of utilizing a laser ranging sensor to realize transverse positioning of a tunnel, eliminating interference through a validity judging algorithm and a calculation method of the number of different effective sensors, utilizing an RFID phase change rate to realize coarse positioning of the longitudinal position of the tunnel, obtaining a label interval of an antenna, and utilizing a hyperbolic positioning method and the transverse position to realize final positioning of the longitudinal position of the tunnel. Aiming at the characteristic of serious unbalance of the transverse and longitudinal dimensions of the tunnel environment, the method of the invention respectively realizes transverse and longitudinal positioning by adopting a laser ranging sensor and an RFID technology, thereby meeting the requirements of different high precision in the transverse and longitudinal directions.
Description
Technical Field
The invention belongs to the technical field of driving positioning in a tunnel, and particularly relates to a tunnel positioning technology based on laser ranging and RFID technology, in particular to a real-time positioning method of a mobile platform/vehicle in the tunnel.
Background
In the construction process of railway tunnels, some projects need to have higher positioning precision in the tunnels in a local range, and in order to realize the automatic operation of the projects, a real-time positioning method capable of meeting the precision requirement is needed to provide reliable information for the self positioning of an operation platform.
Common vehicle positioning technologies such as satellite positioning and visual positioning cannot achieve good positioning performance due to the specificity of tunnel environments. The technology based on wireless sensor network positioning is widely studied in such a scene, such as a ZigBee-based tunnel positioning system and method disclosed in patent literature of CN105828433A, a ZigBee-based tunnel positioning system and method are adopted, zigBee network management base stations and reference nodes which are arranged at intervals are adopted, positioning nodes are arranged on tunnel constructors and vehicles, positioning is realized through a weighted centroid positioning algorithm based on RSSI, but the accuracy which can be achieved is very limited, and the arrangement and power supply of the base stations are troublesome.
The passive RFID technology draws the wide attention of researchers by virtue of the advantages of low cost, convenient deployment, high response speed and the like, and can realize the positioning in a space plane by acquiring the signal strength or the phase characteristic of a back scattering signal of an RFID label and adopting various calculation methods based on ranging or non-ranging. Although most of the methods can achieve good positioning effect when being applied to positioning in a small indoor range, the methods cannot be applied to positioning of a mobile platform in a tunnel, because the methods adopt a mode that an antenna is fixed and a tag is adhered to the surface of a mobile object, the arrangement cost is too high in a long and narrow tunnel, the power supply of the antenna is a great difficulty, and even though some methods can be used in tunnel environments, such as a tunnel positioning method, a tunnel positioning device and a tunnel punching method based on path planning navigation disclosed in CN114492703A, the distance and the angle of a tag module are detected through an automatic laser aiming module, more convenient tag installation is achieved, and meanwhile, the relative position is recorded and acquired through an RFID read-write module. For this reason, these methods do not take into account the characteristics of the severe imbalance of the tunnel transverse and longitudinal dimensions, and therefore it is difficult to simultaneously meet the different precision requirements of different directions.
The laser ranging is to project a pulse laser beam to a target object by using a laser, the laser beam is reflected back after reaching the surface of the object, the photoelectric receiving device of the laser receives the reflected laser pulse, the time consumption from the emission to the receiving is calculated, the measurement of the distance of the target object is realized, and the measurement precision can reach millimeter level generally. The tunnel environment scene is single, so that the transverse positioning of the tunnel is achieved by using laser ranging, the realization is easy in theory, and the requirement of high precision can be met, however, a railway tunnel is provided with a car-avoidance hole according to the standard requirement, and the operation in the tunnel is easily interfered by workers and obstacles, so that the interference factors are required to be accurately identified and eliminated for achieving stable and accurate transverse positioning.
Disclosure of Invention
The invention provides a tunnel positioning method based on laser ranging and RFID technology, which realizes the separation of transverse and longitudinal positioning of a tunnel so as to solve the problems that the prior art is difficult to arrange in the aspect of tunnel positioning and can not meet the requirements of different precision in the transverse and longitudinal directions.
In order to achieve the above purpose, the invention provides a real-time positioning method for realizing the transverse and longitudinal high-precision positioning of a tunnel by utilizing laser ranging and RFID technology respectively, which comprises the following steps:
s1: the laser ranging sensor is utilized to realize the transverse positioning of the tunnel: acquiring ranging data of a laser ranging sensor, judging the effectiveness of each sensor by using a sensor effectiveness judging algorithm, and updating a transverse position x and a course angle psi aiming at different effective sensor combinations;
s2: the RFID phase change rate is utilized to realize the coarse positioning of the longitudinal position of the tunnel: establishing a mapping library of RFID tag ID and tunnel longitudinal position, acquiring phase information of a received RFID, determining a tag interval where an RFID antenna is positioned by utilizing the change rate of the phase, and simultaneously acquiring the RFID ID and matching with the mapping library;
s3: and (3) realizing final positioning of the longitudinal position of the tunnel by using a hyperbolic positioning method and the transverse position obtained in the step S1: and performing hyperbola positioning by using the phase difference of 2 tags in the tag interval where the antenna is positioned, and obtaining the longitudinal position of the tunnel by using the latest transverse position.
Further, the RFID antenna is arranged on the side of the mobile platform to be positioned, and the passive RFID tag is adhered to the tunnel wall.
Further, the sensor effectiveness discrimination algorithm in the step S1 is as follows:
(1) Initializing: setting the sensor arrangement number n and the sensor value change threshold d ts The sensor difference change threshold Δd on the same side ts All sensor data are valid at the initial moment, the transverse position x '=0 of the last sampling moment relative to the tunnel center, the heading angle psi' =0 of the last sampling moment, and the ranging difference delta d of the last sampling moment and the left and right sides l ′＝Δd r ′＝0；
(2) For k epsilon { l, r }, calculating the difference Deltad between the ranging values of the neighboring sensors on the same side k ，Δd k ∈{Δd l ，Δd r If Δd is k Distance measurement difference delta d from last sampling moment k Absolute value of difference |Δd k -Δd k ′|＞Δd ts Performing next judgment on the side, otherwise repeating the judgment on other adjacent sensors on the side until the judgment on the side is completed;
(3) Further judging the effectiveness of adjacent sensors before and after the k side, and calculating the difference delta d between the ranging value of the sensor and the last sampling time for i epsilon [0, n/2 ] ki ＝d ki -d ki ' let condition cond= (d) ki Effective) OR (|Δd) k -d·tanψ′|＞Δd ts ) Where d is the same-side adjacent sensor mounting spacing, if |Δd is satisfied at the same time ki |＞d ts And cond, then d ki The effectiveness is reversed, otherwise, the judgment of the sensor is completed;
(4) Updating Δd k ′＝Δd k ；
The algorithm firstly executes the initialization flow of the step (1), and then circularly executes the judgment flows of the steps (2) to (4) until all the sensors are judged to be finished.
Further, the calculation method of the step S1 for different number of effective sensors is as follows:
(1) When the effective number of the sensors is less than the minimum requirement, directly using x and ψ obtained by calculation at the last sampling moment as a calculation result;
(2) When all sensors are effective, the transverse position x and the course angle psi are directly calculated by using all sensor data;
(3) And in other cases, respectively calculating according to the realizable combination of the effective sensors and taking the average value to obtain x and psi.
Specifically, the transverse positioning result is obtained according to the calculation method of different numbers of effective sensors, wherein the calculation method is as follows:
(1) When less than 2 sensors are effective, directly using x and ψ obtained by calculation at the last sampling moment as a calculation result;
(2) When only 2 sensors are effective, calculating x and ψ by using the corresponding 2 sensors and the required environmental parameters, selecting a result similar to the calculation result of the last sampling moment when multiple solutions exist, and requiring different calculation methods according to different sensors:
(1) when only two sensors on the same left/right side (k=l, r, and k are in the positive directions of x and ψ) are effective, the positioning parameters can be calculated only by the tunnel width L and the left and right sensor installation intervals L in addition to all the sensor data and the same-side sensor installation intervals d, so that the x and ψ are calculated by the formula (1);
(2) only the front/back side two sensors (k=f, b, ψ and x positive directions are leftwards), and at the moment, the positioning parameters can be calculated only by L and L, but the calculation method is different, and the x and ψ are calculated by adopting an arithmetic expression shown in the formula (2), at the moment, the positive and negative of ψ can not be obtained only according to the front/back side two sensors, so that 2 possible x exists, and other conditions are needed to perform corresponding judgment;
(3) only the two sensors on the opposite side (at d lf 、d rb For example), the value of ψ can be solved by the equation set in equation (4), but there are a positive-negative 2 solutions, so that the positive and negative of ψ cannot be directly obtained, and therefore additional information is required for judgment;
(3) When only 3 sensors are effective, respectively using effective same-side 2 sensor data and same-end (front/back) 2 sensor data to calculate x and psi through the formulas (1) and (2), and taking an average value after discarding the multiple solutions as a final calculation result;
(4) When all sensors are active, x and ψ are calculated directly by equation (4) using all sensor data:
further, the step S1 uses 4 laser ranging sensors arranged symmetrically left and right.
Further, the specific step of S2 is as follows:
s21: establishing a mapping library of an RFID tag ID and a tunnel longitudinal position y according to the position of the tag fixing position, acquiring phase information of a receiving RFID, calculating a phase change rate delta p of each acquired tag phase value relative to the phase value of the same tag at the last sampling moment, and correcting errors introduced by the phase change characteristics of a data pi period by using a correction strategy;
s22: filtering the obtained phase change rate data by using a filtering algorithm;
s23: determining a tag interval in which an antenna is positioned according to the obtained phase change rates of a plurality of tags, wherein the tag change rate of the antenna far away is positive, the tag change rate of the antenna close to is negative, and the tag interval with the alternating positive and negative change rates is the determined interval;
s24: converting the label interval into a tunnel longitudinal coordinate y interval according to the mapping relation between the label ID and y in the mapping library
Further, the specific step of S3 is as follows:
s31: by setting a suitable distance d between the labels tag Eliminating the influence of the phase change characteristic of the pi period of the receiving RFID phase on positioning;
s32: obtaining a unique distance difference delta d between two tags according to the relationship between the RFID signal phase and the distance:
wherein Δd is the distance difference between the antenna and two tags in the interval, Δθ is the difference between the phase values of the two tags in the determined interval, λ is the wavelength of the RFID signal, and k' is the integer unique to the guaranteed result, and is determined according to the constraint condition.
S33: and (3) obtaining the longitudinal position of the antenna tunnel by hyperbola positioning and the transverse position of the antenna obtained in the step S1:
where a=Δd/2,c＝d tag /2，/>and respectively obtaining tunnel longitudinal coordinate values corresponding to two labels in the section, and removing unreasonable values of y through the positive and negative of delta d, so as to obtain the final longitudinal position.
Further, the S31 sets a proper label arrangement pitchd tag The method of (2) is as follows:
(1) Calculating constraint conditions:
where l is the vertical distance of the antenna from the wall and λ is the wavelength of the RFID signal.
(2) Under the premise of meeting constraint conditions, proper label arrangement intervals are set, so that obvious mutual influence among labels can not be generated, and the intervals are required to be met to be larger than 40cm.
The tunnel positioning method based on the laser ranging and RFID technology can be applied to positioning in the process of drilling and installing automatic operation of the tunnel contact net hanging column.
The invention provides a data acquisition, processing and display system of a tunnel positioning method based on laser ranging and RFID technology, which comprises the following components: the system comprises a laser ranging sensor, an AD conversion and communication module, a computing platform, an RFID tag, an RFID antenna, an RFID reader and a display interaction terminal, wherein the laser ranging sensor data are connected with the computing platform through the AD conversion and communication module, the RFID antenna is connected with the computing platform through the RFID reader, interaction between the RFID antenna and the RFID tag is completed through backscattering of a radio frequency signal sent by the antenna and the tag, the computing platform sends down instructions to collect data at a fixed frequency, an algorithm is implemented to calculate a positioning result, the positioning result is displayed in the display interaction terminal, and the terminal can interactively configure part of configurable system parameters and the running state of a control system.
The invention also provides an electronic device, characterized by comprising: a processor, a memory storing machine readable instructions executable by the processor, which when executed by the processor perform the steps of the foregoing computing method when the electronic device is running.
The invention also provides a computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the aforementioned method.
The invention provides a new solution to the problem of real-time positioning of high-precision transverse and longitudinal positioning of tunnels, and the method has the following characteristics:
1. aiming at the characteristic of serious unbalance of the transverse and longitudinal dimensions of the tunnel environment, the transverse and longitudinal positioning is realized by adopting a laser ranging sensor and an RFID technology respectively, so that the requirements of different high precision in the transverse and longitudinal directions are met;
2. in the laser ranging transverse positioning method, the influence of positioning interference factors is eliminated by adopting a proposed sensor effectiveness judging algorithm and different calculation methods aiming at different effective numbers of sensors, and finally stable and accurate tunnel transverse positioning is achieved;
3. providing two-stage tunnel longitudinal positioning based on RFID technology, wherein the first stage determines a tag interval where an antenna is positioned according to the change rate of each tag phase to realize coarse positioning, and the second stage utilizes a hyperbola to realize fine positioning in the tag interval, so as to eliminate the influence of RFID phase winding characteristics on positioning, and also provides constraint conditions for tag arrangement intervals;
4. in order to ensure the stability of the method, a filtering algorithm and other processing methods are added in the data processing process.
Drawings
Fig. 1 is a schematic flow chart of a tunnel positioning method based on laser ranging and RFID technology according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an arrangement of a laser ranging and RFID device according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a laser ranging lateral positioning process according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a first stage coarse positioning procedure of RFID according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a second stage accurate positioning procedure of RFID according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a data acquisition, processing and display system of a tunnel positioning method based on a laser ranging and RFID technology according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment discloses a tunnel positioning method based on laser ranging and RFID technology, which is applied to positioning in the process of tunnel contact net hanging column drilling and installation automation operation, as shown in figure 1, and comprises the following steps:
s1: the laser ranging sensor is utilized to realize the transverse positioning of the tunnel: acquiring ranging data of a laser ranging sensor, judging the effectiveness of each sensor by using a sensor effectiveness judging algorithm, and updating a transverse position x and a course angle psi aiming at different effective sensor combinations;
s2: the RFID phase change rate is utilized to realize the coarse positioning of the longitudinal position of the tunnel: establishing a mapping library of RFID tag ID and tunnel longitudinal position, acquiring phase information of a received RFID, determining a tag interval where an RFID antenna is positioned by utilizing the change rate of the phase, and simultaneously acquiring the RFID ID and matching with the mapping library;
s3: and (3) realizing final positioning of the longitudinal position of the tunnel by using a hyperbolic positioning method and the transverse position obtained in the step S1: and performing hyperbola positioning by using the phase difference of 2 tags in the tag interval where the antenna is positioned, and obtaining the longitudinal position of the tunnel by using the latest transverse position.
As shown in fig. 2, in the present embodiment, the laser ranging sensors 2 are symmetrically disposed on both sides of the mobile platform 1, and 4 sensors are used to perform the steps S1 and S1, and referring to fig. 3, a laser ranging value set d= { D is first obtained lf ，d lb ，d rf ，d rb Elements in the collection represent front left, rear left, front right, rear right sensor data, respectively. The specific content of the corresponding sensor effectiveness discriminating algorithm executed next is as follows:
(1) Initializing: setting a sensor value change threshold d ts The sensor difference change threshold Δd on the same side ts All sensor data are valid at the initial moment, the transverse position x '=0 of the last sampling moment relative to the tunnel center, the heading angle psi' =0 of the last sampling moment, and the ranging difference delta d of the last sampling moment and the left and right sides l ′＝Δd r ′＝0；
(2) For k epsilon { l, r }, calculate the difference Δd between the sensor ranging values on the same side k ＝d kb -d kf ，Δd k ∈{Δd l ，Δd r If one side Δd k Distance measurement difference delta d from last sampling moment k Absolute value of difference |Δd k -Δd k ′|＞Δd ts The next judgment is carried out on the side, otherwise, the judgment of the side is finished;
(3) Further judging the effectiveness of the front and rear sensors at the k side, and calculating the difference delta d between the ranging value of the sensor and the last sampling time for i epsilon { f, b } ki ＝d ki -d ki ' let condition cond= (d) ki Effective) OR (|Δd) k -d·tanψ′|＞Δd ts ) Where d is the same-side sensor mounting spacing, if |Δd is satisfied at the same time ki |＞d ts And cond, then d ki The effectiveness is reversed, otherwise, the judgment of the sensor is completed;
(4) Updating Δd k ′＝Δd k ；
The algorithm firstly executes the initialization flow of the step (1), and then circularly executes the judgment flows of the steps (2) to (4) until all the sensors are judged to be finished.
After the sensor effectiveness judging result is obtained, executing the steps of analyzing the number of effective sensors and calculating the result as shown in figure 3, and obtaining the transverse positioning result according to the calculation methods of different number of effective sensors, wherein the method comprises the following steps:
(1) When less than 2 sensors are effective, directly using x and ψ obtained by calculation at the last sampling moment as a calculation result;
(2) When only 2 sensors are effective, calculating x and ψ by using the corresponding 2 sensors and the required environmental parameters, selecting a result similar to the calculation result of the last sampling moment when multiple solutions exist, and requiring different calculation methods according to different sensors:
(1) when only two sensors on the same left/right side (k=l, r, and k are in the positive directions of x and ψ) are effective, the positioning parameters can be calculated only by the tunnel width L and the left and right sensor installation intervals L in addition to all the sensor data and the same-side sensor installation intervals d, so that the x and ψ are calculated by the formula (1);
(2) only the front/back side two sensors (k=f, b, ψ and x positive directions are leftwards), and at the moment, the positioning parameters can be calculated only by L and L, but the calculation method is different, and the x and ψ are calculated by adopting an arithmetic expression shown in the formula (2), at the moment, the positive and negative of ψ can not be obtained only according to the front/back side two sensors, so that 2 possible x exists, and other conditions are needed to perform corresponding judgment;
(3) only the two sensors on the opposite side (at d lf 、d rb For example), the value of ψ can be solved by the equation set in equation (4), but there are a positive-negative 2 solutions, so that the positive and negative of ψ cannot be directly obtained, and therefore additional information is required for judgment;
(3) When only 3 sensors are effective, respectively using effective same-side 2 sensor data and same-end (front/back) 2 sensor data to calculate x and psi through the formulas (1) and (2), and taking an average value after discarding the multiple solutions as a final calculation result;
(4) When all sensors are active, x and ψ are calculated directly by equation (4) using all sensor data:
steps S2 and S3 are performed to achieve tunnel longitudinal positioning.
As shown in fig. 2, the circularly polarized UHF RFID antenna 3 for tunnel longitudinal positioning in the present embodiment is installed at the center of the side edge of the mobile platform 1 while the passive RFID tags 4 are installed at a fixed interval d tag The labels are uniformly distributed on the front side and the rear side of the operation point and have the same height as the RFID antenna 3, the mapping relation between the ID of each RFID label and the longitudinal position of the tunnel is recorded in a database to execute the steps S2 and S3 to obtain the longitudinal position of the tunnel.
In this embodiment, the step S2 is shown in fig. 4, and the specific steps are as follows:
s21: establishing a mapping library of an RFID tag ID and a tunnel longitudinal position y according to the position of a tag fixing position, acquiring phase information of a receiving RFID, calculating a phase change rate delta p of each acquired tag phase value relative to the phase value of the same tag at the last sampling time, and correcting errors introduced by the phase change characteristics of a data pi period by using a correction strategy, wherein the correction strategy shown in the formula (5) is adopted in the embodiment:
in the middle ofRepresenting the obtained kth phase measurement, p, for the ith tag ts Is a decision threshold introduced for phase jump correction.
S22: the obtained phase change rate data is filtered by utilizing an improved sliding window algorithm, and the specific steps are as follows:
(1) After determining the size m of the window, each time the latest data is acquired, the window is moved to the right, namely the first data in the window is removed, other data in the window is moved to the left by one bit, and finally the latest data is moved to the tail of the window;
(2) Filtering to obtain a phase change rate, and if all data in the window are positive, the result is positive; if all the data in the window are negative, the result is negative; otherwise, the result is the phase change rate obtained at the last sampling moment.
S23: determining a tag interval in which an antenna is positioned according to the obtained phase change rates of a plurality of tags, wherein the tag change rate of the antenna far away is positive, the tag change rate of the antenna close to is negative, and the tag interval with the alternating positive and negative change rates is the determined interval;
s24: converting the label interval into a tunnel longitudinal coordinate y interval according to the mapping relation between the label ID and y in the mapping library
In this embodiment, the step S3 is shown in fig. 5, and the specific steps are as follows:
s31: by setting a suitable distance d between the labels tag Eliminating the influence of the phase change characteristic of the receiving RFID phase pi period on positioning, wherein the constraint condition is shown in a formula (6):
and calculating lambda according to the frequency of the used UHF RFID which accords with the regulation, obtaining l through the standard railway tunnel width and the working platform design width, finally calculating to obtain a limiting condition, and selecting a proper arrangement distance to arrange the labels under the condition of meeting more than 40cm.
S32: obtaining a unique distance difference delta d between two tags according to the relationship between the RFID signal phase and the distance, wherein the distance difference delta d is shown in a formula (7):
wherein Δd is the distance difference between the antenna and two tags in the interval where Δθ is the difference between the phase values of the two tags in the determined interval, λ is the wavelength of the RFID signal, and k' is an integer that ensures that the result is unique, which in this embodiment is determined by equation (8) according to the constraint condition:
s33: and (3) obtaining the longitudinal position of the antenna tunnel by using hyperbola positioning and the transverse position of the antenna obtained in the step S1, wherein the longitudinal position of the antenna tunnel is shown as a formula (9):
where a=Δd/2,c＝d tag /2，/>and respectively obtaining tunnel longitudinal coordinate values corresponding to two labels in the section, and removing unreasonable values of y through the positive and negative of delta d, so as to obtain the final longitudinal position.
The embodiment also provides a system for collecting, processing and displaying data of a tunnel positioning method based on laser ranging and RFID technology, as shown in fig. 6, the system comprises: the system comprises a laser ranging sensor, an AD conversion and communication module, a computing platform, an RFID tag, an RFID antenna, an RFID reader and a display interaction terminal, wherein laser ranging sensor data are connected with the computing platform through the AD conversion and communication module, the RFID antenna is connected with the computing platform through the RFID reader, interaction between the RFID antenna and the RFID tag is completed through backscattering of radio frequency signals sent by the antenna and the tag, the computing platform sends down instructions to collect data at a fixed frequency, the algorithm is implemented to calculate a positioning result, the positioning result is displayed in the display interaction terminal, and the terminal can interactively configure part of configurable system parameters and the running state of a control system.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. The tunnel positioning method based on the laser ranging and RFID technology is characterized by comprising the following steps of:
s1: the tunnel transverse positioning is realized by using a laser ranging sensor;
obtaining ranging data of a laser ranging sensor, judging the effectiveness of each sensor by using a sensor effectiveness judging algorithm, and updating a transverse position x and a course angle psi aiming at different effective sensor combinations, wherein the sensor effectiveness judging algorithm is as follows:
(1) Initializing: setting the sensor arrangement number n and the sensor value change threshold d ts The sensor difference change threshold Δd on the same side ts All sensor data are valid at the initial moment, the transverse position x '=0 of the last sampling moment relative to the tunnel center, the heading angle psi' =0 of the last sampling moment, and the distance measurement difference delta d is about the last sampling moment l ′＝Δd r ′＝0；
(2) For k epsilon { l, r }, calculating the difference Deltad between the ranging values of the neighboring sensors on the same side k ，Δd k ∈{Δd l ，Δd r If Δd is k Distance measurement difference delta d from last sampling moment k Absolute value of difference |Δd k -Δd k ′|＞Δd ts Performing next judgment on the side, otherwise repeating the judgment on other adjacent sensors on the side until the judgment on the side is completed;
(3) Further judging the effectiveness of adjacent sensors before and after the k side, and calculating the difference delta d between the ranging value of the sensor and the last sampling time for i epsilon [0, n/2 ] ki ＝d ki -d ki ' let condition cond= (d) ki Effective) OR (|Δd) k -d·tanψ′|＞Δd ts ) Where d is the same-side adjacent sensor mounting spacing, if |Δd is satisfied at the same time ki |＞d ts And cond, then d ki The effectiveness is reversed, otherwise, the judgment of the sensor is completed;
(4) Updating Δd k ′＝Δd k ；
Firstly, executing an initialization flow of the step (1), and then circularly executing judgment flows of the steps (2) - (4) until all the sensors are judged to be finished;
s2: coarse positioning of the longitudinal position of the tunnel is realized by utilizing the RFID phase change rate;
establishing a mapping library of RFID tag ID and tunnel longitudinal position, acquiring phase information of a received RFID, determining a tag interval where an RFID antenna is positioned by utilizing the change rate of the phase, and simultaneously acquiring the RFID ID and matching with the mapping library;
s3: realizing final positioning of the tunnel longitudinal position by using the hyperbolic positioning method and the transverse position obtained in the step S1;
and performing hyperbola positioning by using the phase difference of 2 tags in the tag interval where the antenna is positioned, and obtaining the longitudinal position of the tunnel by using the latest transverse position.
2. The positioning method according to claim 1, wherein the RFID antenna is mounted on a side of a mobile platform to be positioned, and the passive RFID tag is attached to a tunnel wall.
3. The positioning method according to claim 1, wherein the calculation method of step S1 for different number of active sensors is as follows:
(1) When the effective number of the sensors is less than the minimum requirement, directly using x and ψ obtained by calculation at the last sampling moment as a calculation result;
(2) When all sensors are effective, directly calculating x and ψ by using all sensor data;
(3) And in other cases, respectively calculating according to the realizable combination of the effective sensors and taking the average value to obtain x and psi.
4. The positioning method according to claim 1, wherein the step S2 is:
s21: establishing a mapping library of an RFID tag ID and a tunnel longitudinal position y according to the position of the tag fixing position, acquiring phase information of a receiving RFID, calculating a phase change rate delta p of each acquired tag phase value relative to the phase value of the same tag at the last sampling moment, and correcting errors introduced by the phase change characteristics of a data pi period by using a correction strategy;
s22: filtering the obtained phase change rate data by using a filtering algorithm;
s23: determining a tag interval in which an antenna is positioned according to the obtained phase change rates of a plurality of tags, wherein the tag change rate of the antenna far away is positive, the tag change rate of the antenna close to is negative, and the tag interval with the alternating positive and negative change rates is the determined interval;
s24: converting the label interval into a tunnel longitudinal coordinate y interval according to the mapping relation between the label ID and y in the mapping library
5. The positioning method according to claim 1, wherein the step S3 is:
s31: by setting a suitable distance d between the labels tag Eliminating the influence of the phase change characteristic of the pi period of the receiving RFID phase on positioning;
s32: obtaining a unique distance difference delta d between two tags according to the relationship between the RFID signal phase and the distance:
wherein Δd is the distance difference between the antenna and two tags in the interval, Δθ is the difference between the phase values of the two tags in the determined interval, λ is the wavelength of the RFID signal, and k' is the integer unique to the guaranteed result, and is determined according to constraint conditions;
s33: and (3) obtaining the longitudinal position of the antenna tunnel by hyperbola positioning and the transverse position of the antenna obtained in the step S1:
where a=Δd/2,c＝d tag /2，/>and respectively obtaining tunnel longitudinal coordinate values corresponding to two labels in the section, and removing unreasonable values of y through the positive and negative of delta d, so as to obtain the final longitudinal position.
6. The positioning method according to claim 5, wherein the S31 sets a proper label arrangement pitch d tag The method of (2) is as follows:
(1) Calculating constraint conditions:
wherein l is the vertical distance from the antenna to the wall, and lambda is the wavelength of the RFID signal;
(2) Under the premise of meeting constraint conditions, proper label arrangement intervals are set, so that obvious mutual influence among labels can not be generated, and the intervals are required to be met to be larger than 40cm.
7. A data acquisition, processing and display system for a tunnel locating method based on laser ranging and RFID technology as claimed in any one of claims 1-6, said system comprising: the system comprises a laser ranging sensor, an AD conversion and communication module, a computing platform, an RFID tag, an RFID antenna, an RFID reader and a display interaction terminal, wherein the laser ranging sensor data are connected with the computing platform through the AD conversion and communication module, the RFID antenna is connected with the computing platform through the RFID reader, interaction between the RFID antenna and the RFID tag is completed through backscattering of a radio frequency signal sent by the antenna and the tag, the computing platform sends down instructions to collect data at a fixed frequency, an algorithm is implemented to calculate a positioning result, the positioning result is displayed in the display interaction terminal, and the terminal can interactively configure part of configurable system parameters and the running state of a control system.
8. The application of the data acquisition, processing and display system of the tunnel positioning method based on the laser ranging and RFID technology in the process of tunnel contact net hanging column drilling and installation automation operation in the invention is disclosed in claim 7.
9. An electronic device, comprising: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method of any of claims 1 to 6 when the electronic device is run.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when run by a processor, performs the steps of the method according to any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020474.1A CN116299173B (en) | 2023-01-06 | 2023-01-06 | Tunnel positioning method and system based on laser ranging and RFID technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020474.1A CN116299173B (en) | 2023-01-06 | 2023-01-06 | Tunnel positioning method and system based on laser ranging and RFID technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116299173A CN116299173A (en) | 2023-06-23 |
| CN116299173B true CN116299173B (en) | 2023-09-29 |
Family
ID=86829463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310020474.1A Active CN116299173B (en) | 2023-01-06 | 2023-01-06 | Tunnel positioning method and system based on laser ranging and RFID technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116299173B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020441A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Two-dimensional vehicle positioning method in tunnel environment and based on radio frequency identification |
| CN112711027A (en) * | 2020-12-08 | 2021-04-27 | 北京市首都公路发展集团有限公司 | Tunnel internal transverse positioning method based on laser radar point cloud data |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN114924224A (en) * | 2022-05-17 | 2022-08-19 | 中国矿业大学 | High-precision positioning method in tunnel based on multi-frequency carrier phase |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7119738B2 (en) * | 2004-03-01 | 2006-10-10 | Symbol Technologies, Inc. | Object location system and method using RFID |
| WO2017117667A1 (en) * | 2016-01-07 | 2017-07-13 | Peck Tech Consulting Ltd. | A method and system for georeferencing underground data |
| WO2021050443A1 (en) * | 2019-09-09 | 2021-03-18 | Piper Networks, Inc. | Enhanced transit location systems and methods |
-
2023
- 2023-01-06 CN CN202310020474.1A patent/CN116299173B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020441A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Two-dimensional vehicle positioning method in tunnel environment and based on radio frequency identification |
| CN112711027A (en) * | 2020-12-08 | 2021-04-27 | 北京市首都公路发展集团有限公司 | Tunnel internal transverse positioning method based on laser radar point cloud data |
| CN113063413A (en) * | 2021-02-19 | 2021-07-02 | 中铁第一勘察设计院集团有限公司 | Tunnel position positioning method based on multiple sensors |
| CN114924224A (en) * | 2022-05-17 | 2022-08-19 | 中国矿业大学 | High-precision positioning method in tunnel based on multi-frequency carrier phase |
Non-Patent Citations (1)
| Title |
|---|
| 一种长隧道内高速列车实时高精度定位方法;张辰东;王兆瑞;;计算机仿真(第09期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116299173A (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109298389B (en) | Indoor pedestrian combination pose estimation method based on multi-particle swarm optimization | |
| US11275163B2 (en) | Slam method and apparatus robust to wireless environment change | |
| CN104180805B (en) | Smart phone-based indoor pedestrian positioning and tracking method | |
| CN107315413B (en) | Multi-vehicle cooperative positioning algorithm considering relative positions between vehicles in vehicle-vehicle communication environment | |
| KR102110813B1 (en) | SLAM method and apparatus robust to wireless environment change | |
| CN105716604A (en) | Mobile robot indoor positioning method and system based on geomagnetic sequences | |
| CN109443350B (en) | Bluetooth/photoelectric/INS integrated navigation device and method based on neural network | |
| CN104535064A (en) | Wi-Fi fingerprint-assisted indoor mobile terminal inertial navigation method | |
| CN107014375B (en) | Indoor positioning system and method with ultra-low deployment | |
| CN108414972B (en) | Mobile robot RFID positioning method based on phase characteristics | |
| CN105451330A (en) | Mobile terminal location method on the basis of electromagnetic signals and mobile terminal location device on the basis of electromagnetic signals | |
| CN105704652A (en) | Method for building and optimizing fingerprint database in WLAN/Bluetooth positioning processes | |
| JP2007333385A (en) | Immobile object position recording device | |
| CN103954929A (en) | Radio frequency tag locating method and system | |
| US20230236280A1 (en) | Method and system for positioning indoor autonomous mobile robot | |
| EP2881708A1 (en) | System and method for indoor localization using mobile inertial sensors and virtual floor maps | |
| CN112637762A (en) | Indoor fusion positioning method based on improved PDR algorithm | |
| CN106932752A (en) | A kind of real-time indoor orientation method based on RF phse monitoring | |
| CN114615740A (en) | Indoor personnel positioning method based on Bluetooth, PDR and map matching fusion | |
| CN110231592A (en) | Indoor orientation method, device, computer readable storage medium and terminal device | |
| CN103197281A (en) | Establishment method of regional division indoor positioning model based on minimized RFID (Radio Frequency Identification) reader | |
| CN114119886A (en) | High-precision map point cloud reconstruction method and device, vehicle, equipment and storage medium | |
| CN116299173B (en) | Tunnel positioning method and system based on laser ranging and RFID technology | |
| CN112539747B (en) | Pedestrian dead reckoning method and system based on inertial sensor and radar | |
| CN113375661A (en) | Positioning navigation method and system of unmanned system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |