CN204442708U - For the UWB base station of vehicle location - Google Patents
For the UWB base station of vehicle location Download PDFInfo
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Abstract
The utility model provides a kind of UWB base station for vehicle location, this UWB base station comprises signal transacting and control module, be connected to UWB radio-frequency module and the communication interface modules of described signal transacting and control module, be connected to the antenna of described UWB radio-frequency module, and for realizing the synchronization module with other UWB base station clock synchronization.This UWB base station and supporting UWB electronic tag etc. form the Vehicle positioning system based on UWB, can realize hi-Fix, and position stability are good to vehicle.
Description
Technical field
The utility model relates to Vehicle positioning system, more particularly, relates to a kind of UWB base station for vehicle location, is mainly used in the parking automatic charging field in parking lot, station, roadside/road-surface concrete region.
Background technology
Along with the surge of motor vehicles, the intelligent management demand in parking lot is more and more urgent.Global positioning system (GPS) applies the most successful location technology at present, but closely locate for indoor, and its precision is far not by far up to the mark.Based on the communication technology of extensively universal WLAN (wireless local area network) (WLAN), as Zigbee, RFID, WiFi, Bluetooth technology etc. also provide various positioning service.Location technology based on ZigBee mainly adopts received signal strength indicator (RSSI) to realize, and positioning precision is not high, generally at 3 ~ 5m.Location technology based on RFID is stored by RFID tag (Tags) or wireless transceiver and sends the technology that data carry out automatic identification non-contactly.RFID is applied to location and is mainly divided into two kinds of modes: one is location aware (Location-aware) mode, and another kind is based on RSSI mode.In order to reach higher precision, usually need a large amount of reference points and detect antenna, different environment is the factor that must consider on the impact that wireless energy is propagated simultaneously, also there is the parameter being not easy to determine in location algorithm.Current popular WiFi location is a kind of location solution of IEEE802.11, at present, it is applied to indoor positioning among a small circle, cost is lower, but WiFi transceiver can only geographic area within covering radius 90m, is easy to be subject to other signal disturbing, thus affects positioning precision, very unreliable, and the energy consumption of locator is higher.Bluetooth technology is applied to location, has a lot of similarity, be mainly used in and locate among a small circle with WiFi, such as individual layer hall or warehouse; There is position error unstable equally, disturb large shortcoming by noise signal.The above-mentioned defect that existing location technology exists causes them really to be applied in parking automatic charging field.
Utility model content
The purpose of this utility model in the problem of parking automatic charging field application, cannot provide a kind of UWB base station for vehicle location for existing location technology.
UWB (UltraWideband, ultra broadband) is a kind of carrierfree communication technology, utilizes nanosecond to the non-sinusoidal waveform burst pulse transmission data of picosecond level.FCC (FCC, Federal communications commission) to the definition of UWB is: band is wider than 500MHz, or the radiotechnics that relative bandwidth is greater than 20%.From frequency domain, UWB is different with broadband from traditional arrowband, and its frequency band is wider.Usual arrowband refers to that relative bandwidth is less than 1%, and the relative bandwidth that broadband refers to is between 1% to 25%, and relative bandwidth is greater than 25%, and centre frequency is greater than the radiotechnics of 500MHz, is called UWB.
A kind of UWB base station for vehicle location that the utility model provides comprises signal transacting and control module, be connected to UWB radio-frequency module and the communication interface modules of described signal transacting and control module, be connected to the antenna of described UWB radio-frequency module, and for realizing the synchronization module with other UWB base station clock synchronization.
Above-mentioned in the UWB base station of vehicle location, preferably, this UWB base station also comprises for realizing the supporting active control of UWB electronic tag and/or the tag activation of transfer of data and communication module.
Above-mentioned in the UWB base station of vehicle location, preferably, described communication interface modules is W IFI module.
Above-mentioned in the UWB base station of vehicle location, preferably, described WIFI module is the WIFI module possessing relay function.
Above-mentioned in the UWB base station of vehicle location, preferably, this UWB base station also comprises the power supply automatic switching module for realizing exchanging input and direct current input automatic switchover.
Above-mentioned in the UWB base station of vehicle location, preferably, described synchronization module is arranged in described signal transacting and control module.
Above-mentioned in the UWB base station of vehicle location, preferably, described UWB radio-frequency module and tag activation and communication module are connected to the spi bus of signal transacting and control module, and described communication interface modules is connected to the usb bus of signal transacting and control module.
Above-mentioned in the UWB base station of vehicle location, preferably, this UWB base station is portable base station, transportable type base station or stationary base station.
Above-mentioned in the UWB base station of vehicle location, preferably, described UWB radio-frequency module is for the treatment of 6.5GHZ wireless signal, and described tag activation and communication module are for the treatment of 5.8GHZ wireless signal.
This UWB base station for vehicle location and supporting UWB electronic tag etc. form the Vehicle positioning system based on UWB, can realize hi-Fix, and position stability are good to vehicle.And the UWB electronics mark cost supporting with it is low, little power consumption, volume are little, that can reduce vehicle location realizes cost.
Accompanying drawing explanation
Fig. 1 is the block diagram of some embodiment UWB base stations;
Fig. 2 is the theory diagram based on UWB Vehicle positioning system;
Fig. 3-5 is three kinds of layouts of UWB base station;
Fig. 6-8 is three kinds of location model figure;
Fig. 9-10 is parking stall position view.
Embodiment
In order to make scheme of the present utility model clearly understand, below in conjunction with example, the utility model is further described.These more detailed descriptions are intended to help and understand the utility model, and should not be used to limit the utility model.Content disclosed in the utility model, it will be understood by those skilled in the art that and some or all these specific detail can not be needed to implement the utility model.And in other cases, in order to avoid utility model is created desalination, do not describe well-known operating process in detail.
Please refer to Fig. 1, the UWB base station of some embodiments comprises: antenna 21, UWB radio-frequency module 22, clock generating module, signal transacting and control module 23, communication interface modules (WIFI module) 24, tag activation and communication module 25, power transfer module 26.UWB radio-frequency module 22 and tag activation and communication module 25 are connected to the spi bus of signal transacting and control module 23, and communication interface modules 24 is connected to signal transacting and controls the usb bus of mould 23 pieces.Antenna 21 is for receiving aerial microwave signal.UWB radio-frequency module 22 is for carrying out de/modulation by microwave signal.Clock generating module is used for exporting local accurate clock to signal transacting and control module 23.Signal transacting and control module 23 comprise: extracting of positional parameters module, synchronization module and data are carried out to the module of decapsulation/assembling.Synchronization module is used for carrying out clock synchronous, to improve positioning precision further to other UWB base station.WIFI module is used between UWB base station and between UWB base station and background server, data (as positional parameter) are transmitted, and object is the locating channel in order to not take 6.5GHZ.Tag activation and communication module 25 are for the subsidiary communications with label, adopt 433M frequency, the active control of label and data (as the activated) transmission between label and base station can be carried out, after adopting active module, the locating module of label is just opened, to extend the label life-span when vehicle can be made only to enter parking area.
With reference to Fig. 2, some Vehicle positioning systems of above-mentioned UWB base station are adopted to comprise: UWB electronic tag 1, (one of them is as dominant base at least three UWB base stations 2, all the other are as from base station), processing unit (not shown), background server 3, video identification subsystem 4, gateway is activated and transaction modules 5.Background server 3 is connected with base station communication, for managing the positional information of vehicle.
UWB electronic tag 1 is arranged on vehicle, for launching radio positioning signal, as 6.5GHZ wireless signal.Preferably in radio positioning signal, load vehicle identity information (as license plate number) and vehicle information etc.Preferably the wireless communication module realizing ETC (electronic non-parking automatic charging) system is set in UWB electronic tag 1, as 5.8GHZ wireless communication module, realizes to coordinate with ETC system the automatic charging that do not stop.
UWB base station 2 is for receiving the radio positioning signal of UWB electronic tag 1 transmitting and obtaining the parameter value of the relatively described vehicle in each UWB base station 2 according to this radio positioning signal respectively.The parameter of UWB base station mentioned here relative vehicle can be the various parameters that can be gone out vehicle location by calculated with mathematical model, preferred received signal strength (RSSI), time of arrival (toa) (TOA), the time of advent poor (TDOA), angle of arrival (AOA), the more preferably time of advent poor (TDOA).
Compartment of terrain, all UWB base stations 2 is arranged in parking area, and parking area can be road-surface concrete field, passenger traffic station, underground parking etc.The layout of UWB base station 2 can be arranged according to the layout in concrete parking lot, as Fig. 3-5 respectively illustrate in some road-surface concrete fields, passenger traffic station, UWB base station, underground parking layout scenarios, wherein circle represents UWB base station, and each rectangular area represents a parking stall.
The processing unit (not shown) of navigation system is used for according to the positional information from the parameter value determination vehicle of at least three UWB base stations, and the positional parameter value namely for being determined UWB base station substitutes into Mathematical Modeling, determines the positional information of vehicle.This processing unit can be an independently device, also can be arranged at dominant base or background server 3, if self-contained unit then should possess communication function, to realize the communication of itself and base station and background server.
When selecting RSSI or TOA as positional parameter, determine the positional information of target (i.e. vehicle) by circles/spheres location model.When selecting TDOA as positional parameter, determine the positional information of target by hyperbola/face location model.When selecting AOA as positional parameter, determine the positional information of target by angle location model.
1, circles/spheres location model:
Circular location is the target localization to two dimensional surface, RSSI or TOA of destination node (being namely loaded with the vehicle of UWB electronic tag) framing signal is received by witness mark node (i.e. UWB base station), calculate the distance of reference node to destination node thus, can determine a circle by destination node to the distance d of reference node, destination node one is positioned on this circle.When having the individual reference node of N (N>=3) to participate in ranging localization simultaneously, the intersection point between multiple circle is exactly the position of corresponding target, as shown in Figure 6.Spherical location is then locate three-dimensional realization of goal.
Define one group of circular equation thus:
Solve the coordinate figure that above-mentioned equation group just can obtain destination node.2 equations are only needed to try to achieve non trivial solution in theory, but in practice due to the existence of various error source, need the equation to more than 3 to carry out position that minimum variance or maximum likelihood process just can obtain destination node.
At three dimensions, the position coordinates of destination node N is (x, y, z), by calculating the distance ri between destination node N and reference node Ni, thus obtain taking Ni as the centre of sphere, take ri as the sphere of the radius of a ball, then N is positioned at the intersection point of these spheres, obtains equation group:
The reference node choosing more than 4 is set up equation group and is calculated, and can calculate the position coordinates of destination node in three dimensions.
2, hyperbola/face location model:
This location model is the TDOA receiving same destination node framing signal by measuring different reference node, thus calculate the range difference of different reference node to destination node, one group of hyperbola can be determined by destination node to the range difference of any two reference nodes.When having the individual reference node of N (N>=3) to participate in range finding simultaneously, the intersection point between multiple hyperbola just obtains the estimation to target location.Compared with TOA, its key benefit is the response and the processing delay that do not need accurately to try to achieve reference node and destination node again, only requires that all clocks participating in the reference node measured are synchronous.
With reference to Fig. 7, in two dimensional surface, when the range difference when between reference node A and B and destination node X is d1, destination node must be positioned at A and B for focus, is on the determined hyperbola of solid line of d1 with the range difference perseverance of two focuses.When the range difference recording reference node A and C and destination node X is d2 simultaneously, just can obtain another group with A and C for focus, and the hyperbola represented with the solid line that the range difference perseverance of focus is d2 is to upper, two groups of hyp intersection points are the position of destination node.
3, angle location model
The geometrical principle of angle location model is that measurement target node is with LOS (line of sight, sighting distance) arrive the signal angle of reference node, destination node must be positioned on the straight line corresponding to this angle, namely utilizes a geometrical model of AOA Information locating.With reference to Fig. 8, when two reference node N1 and N2 record after target sends the angle of arrival of the LOS of signal simultaneously, the intersection point N of its corresponding two straight lines is the position at destination node place.
The angle of arrival that hypothetical reference node N1 and reference node N2 records the signal that destination node sends respectively is θ 1 and θ 2, then obtain equation group as follows:
Separate the coordinate figure that namely this equation group can obtain destination node.Can find out, angular surveying location model only needs two reference nodes, and certainly, the reference node number participating in location is more, and the redundancy of its data is higher, and the precision of location and success rate will be higher.
Video identification subsystem 4 and background server 3 communicate to connect, for passing through video tracking positioned vehicle and identifying vehicle identity information.Can the video identification equipment (camera) of position configuration video identification subsystem 4 such as near gateway, channel side between gateway and parking stall and parking stall as the case may be.
UWB base station, processing unit, background server and video identification subsystem preferably all configure the WIFI module with relay function, to realize stable radio communication.
The method realizing vehicle location comprises the following steps:
(1) entrance roadside unit (as 5.8GHZ roadside unit) wakes up (activation) the UWB electronic tag sailed on the vehicle of entrance, wake rear UWB electronic tag up and start locating module, as transmission and the receiver module of 6.5GHZ signal.Accordingly, when vehicle sails out of parking area outlet, the UWB electronic tag triggered on vehicle by Exit Road side unit closes locating module, enters park mode.The object of this step is in order to power saving, Cai only have the timing/of UWB electronic tag or not timing upon awakening to launch radio positioning signal (as 6.5GHZ signal);
(2) vehicle enters parking area, contained electronic tag timing/not timing sends radio positioning signal, UWB base station then in parking area receives this signal, and by receive this signal temporal information (can be calibration before original time information, also can be the information time of advent after calibration) be sent to described processing unit by WIFI, this processing unit can be self-contained unit, also can be arranged in dominant base or background server;
(3) position the Wireless clock synchronization on channel (6.5GHZ channel) between each base station in real time, make the clocking error between each base station be no more than 1ns.Specifically can send synchronization frame by the synchronization module in dominant base, after receiving synchronization frame from base station, realize clock synchronous by algorithm (as time data filtering algorithm);
(4) multiple base station (being no less than 3) is by receiving the 6.5GHz signal that returns of electronic tag, generate time of reception, and this time of reception is sent to described processing unit by WIFI or 6.5GHZ channel, processing unit calculates electronic tag vehicle position according to TDOA algorithm;
(5) described processing unit real-time tracking electronic tag vehicle position.
(6) further can also in the parking stall list of locations of the preset parking areas such as the dominant base of system or background server, parking stall list of locations comprises the center-of-mass coordinate of each corresponding region, parking stall, as in Fig. 9, A, B, C, D, E, F, G are rectangle parking stall, with the location parameter of rectangle center-of-mass coordinate as corresponding parking stall.When (such as in 10 seconds, change is no more than+-0.5m) after electronic tag vehicle position information does not change within a certain period of time, then think that it stops travelling, now by matching algorithm, vehicle identity information is mated with parking stall list of locations the corresponding relation obtaining vehicle and parking stall, thus determine each electronic tag vehicle place parking spot.The information such as license plate number, vehicle is contained, so can, by vehicle one_to_one corresponding to parking stall, facilitate car owner to search in system due in the locating information that electronic tag transmits.
(7) near road trackside recognition and tracking can also be carried out by video identification subsystem to vehicle further, video identification equipment can be arranged on gateway, travelling for vehicle between gateway and parking stall and parking stall.Gateway video identification equipment is responsible for carrying out Car license recognition to vehicle, uses for manager; For the Road side-looking identification equipment frequently that vehicle travels between gateway and parking stall, mainly follow the tracks of vehicle driving trace, and combining wireless positioning track, making up mutually can not overlay area.Video identification equipment near parking stall, mainly identify cover on parking stall whether stop there is vehicle, such as video camera irradiates ABCEDFG parking stall (as shown in Figure 10), (non-ly a kind of method is only had by background subtraction, here be citing), can judge that on ABCEDEFG, which has car, which is without car, determine vehicle parking position, and can room be determined.In Figure 10 rectangular area this parking stall of shadow representation on existing car.
(8) to video identification subsystem positioning result and UWB wireless location result treatment, can also distinguish on parking stall and have the vehicle of UWB electronic tag and the vehicle without UWB electronic tag further.Because video identification equipment identifiable design goes out vehicle parking parking stall, and wireless location technology can identify the Parking Stall of label vehicle, so remove in the vehicle parking parking stall that video identification recognition of devices goes out and have the Parking Stall of label vehicle, the parking spot that remaining is exactly without label vehicle.
(9) can also comprise further and carry out corresponding to the vehicle without UWB electronic tag with parking stall, facilitate manager to manage and search with car owner.Because entrance carries out car plate video identification to vehicle, vehicle running path has carried out video tracking to vehicle simultaneously, parking stall is also carried out video tracking to vehicle and mated, so can obtain at entrance without the number-plate number of label vehicle, so also can one_to_one corresponding without the number-plate number of label vehicle and its parking stall, place.
Claims (9)
1. the UWB base station for vehicle location, it is characterized in that: this UWB base station comprises signal transacting and control module (23), be connected to UWB radio-frequency module (22) and the communication interface modules (24) of described signal transacting and control module, be connected to the antenna (21) of described UWB radio-frequency module, and for realizing the synchronization module with other UWB base station clock synchronization.
2. the UWB base station for vehicle location according to claim 1, is characterized in that: this UWB base station also comprises for realizing the supporting active control of UWB electronic tag and/or the tag activation of transfer of data and communication module (25).
3. the UWB base station for vehicle location according to claim 1, is characterized in that: described communication interface modules (24) is WIFI module.
4. the UWB base station for vehicle location according to claim 3, is characterized in that: described WIFI module is the WIFI module possessing relay function.
5. the UWB base station for vehicle location according to any one of Claims 1-4, is characterized in that: this UWB base station also comprises the power supply automatic switching module (26) for realizing exchanging input and direct current input automatic switchover.
6. the UWB base station for vehicle location according to any one of Claims 1-4, is characterized in that: described synchronization module is arranged in described signal transacting and control module (23).
7. the UWB base station for vehicle location according to claim 2, it is characterized in that: described UWB radio-frequency module (22) and tag activation and communication module (25) are connected to the spi bus of signal transacting and control module (23), and described communication interface modules (24) is connected to the usb bus of signal transacting and control module (23).
8. the UWB base station for vehicle location according to any one of Claims 1-4, is characterized in that: this UWB base station is portable base station, transportable type base station or stationary base station.
9. the UWB base station for vehicle location according to claim 2, it is characterized in that: described UWB radio-frequency module (22) is the UWB radio-frequency module (22) for the treatment of 6.5GHZ wireless signal, described tag activation and communication module (25) are tag activation for the treatment of 5.8GHZ wireless signal and communication module (25).
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