CN204461441U - A kind of parking garage Multi-Targets Tracking and Positioning System - Google Patents
A kind of parking garage Multi-Targets Tracking and Positioning System Download PDFInfo
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- CN204461441U CN204461441U CN201520177008.5U CN201520177008U CN204461441U CN 204461441 U CN204461441 U CN 204461441U CN 201520177008 U CN201520177008 U CN 201520177008U CN 204461441 U CN204461441 U CN 204461441U
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Abstract
A kind of parking garage Multi-Targets Tracking and Positioning System, belongs to multiple target tracking positioning field; Comprise UWB positioning system and automotive body positioning device, UWB positioning system comprises wireless synchronous control device and wireless location base station; Automotive body positioning device comprises vehicle body positioning label, inertial navigation module, wireless module, portable power source module; The data that inertial navigation module exports are sent on master system by wireless module; Vehicle body positioning label sends signal to wireless location base station simultaneously, and wireless location base station sends data to wireless synchronous control device; Signal is sent to host computer by wireless synchronous control device, obtains target position data and attitude data by master system, then by merging computing determination vehicle body particular location and attitude information, then information is sent to mobile client.This cover combined type positioning system breaks through the locator meams by environmental constraints in the past, achieves in spatiality, real-time, the improvement of quantitative and accuracy aspect.
Description
Technical field
The utility model relates to a kind of wireless location system, and particularly a kind of location by super wideband wireless combines with inertial navigation, for multiple goal vehicle provides the tracing-positioning system of precision navigation in parking lot, can belong to multiple target tracking positioning field.
Background technology
Along with developing by leaps and bounds of China's economy, in recent years, the owning amount of private car up growth at double.User is to shopping centre, and hospital, the demand of the parking in school etc. place increases greatly.Traditional middle-size and small-size parking lot can not meet popular demand, therefore the large-scale parking lot built, a lot of place.But because parking lot space is large, vehicle is many, and direction not easily distinguishes, user can only drive a car and turn-take everywhere in parking lot, finds vacant position.And the car searching out oneself when finishing thing and will leaving parking lot is again a troublesome thing.Current large parking lot is not all generally for user provides the service of location of stopping.
Because parking lot is in indoor, radio navigation, gps satellite navigation and celestial navigation etc. all need the strength by the external world, cannot use in indoor, so be difficult to accurately locate vehicle in parking lot, and part indoor navigation is by positioning time, precision, scope and number of targets restricted.Therefore accurate parking lot multiple target tracking location technology becomes the gordian technique that society is badly in need of solving.Indoor positioning technologies conventional now has infrared confirming orientation technology, inertial navigation location technology, wireless sensor network location technology, magnetic tracking.
Infrared confirming orientation technology utilizes the optical sensor being arranged on indoor to accept to position from the infrared-ray of infrared ray IR identification transmissions modulation.Although infrared-ray location technology has relatively high positioning precision, its transmission range shorter and easily by the fluorescent light of indoor or other light disturb, indoor locating effect is deteriorated.
Inertial navigation location technology connects firmly on carrier by gyroscope and accelerometer, utilizing the moving target inertia that self exists when moving, measuring the course of moving target respectively, attitude, speed and position.But because self exists drift and scores accumulated error, cause long-time positional information error serious, and in enclosed environment, there is no the calibration of extraneous navigational system, so inertial navigation location cannot be used alone.
Wireless sensor network location technology obtains the position of moving target by time of arrival (toa), signal arrival time difference, angle of arrival and received signal strength etc., but because moving target is the three-dimensional body in space, be simplified to a barycenter body and brought certain error to location Calculation, and the attitude information of object cannot be exported, so also existing defects.
Magnetic tracking is by setting up a kind of specific magnetic fields region and utilizing magnetic sensors to obtain Magnetic Field, then according to the Relation Parameters between the position coordinates system at obtained data calculating magnetic field inductor place and reference frame.But owing to disturbing by electromagnetism or magnetic metal, system delay is larger.
Want to obtain vehicle location and attitude information in the environment of parking lot, only utilize above method to reach target.
Utility model content
The problem on parking stall can be found rapidly after entering parking lot in order to realize vehicle, the utility model provides a kind of parking garage Multi-Targets Tracking and Positioning System, position and the attitude information of moving vehicle is obtained by this multiple goal combined tracking positioning system, have easy and simple to handle, the features such as data are accurate and real-time.
A kind of parking garage described in the utility model Multi-Targets Tracking and Positioning System, is characterized in that: comprise access management device, automotive body positioning device, UWB positioning system, master system; Described UWB positioning system comprises wireless synchronous control device and wireless location base station; Described access management device is provided automotive body positioning device and is sought car label; Described automotive body positioning device comprises vehicle body positioning label, inertial navigation module, wireless module, portable power source module, and the data that described inertial navigation module exports send to host computer by wireless module; Described wireless location base station receives the signal that vehicle body positioning label sends, and the data on wireless location base station are passed to host computer by described wireless synchronous control device; The data that described master system reception inertial navigation module sends and the data that wireless synchronous control device sends, and real-time display position.
The base plate of the wireless module on described automotive body positioning device adopts the portable power source of 5V to power, make to be connected on inertial navigation module on automotive body positioning device and wireless module all obtains power supply, the data that described inertial navigation module exports are sent by a pair wireless module.
Described 2 wireless modules, one is fixed on car acoustic fix ranging device, and 1 is connected with host computer.
Described access management device seek car label, to match as set of device with vehicle body positioning label and use.
Described wireless location base station is made up of antenna and base station Reader, and astronomical cycle below the Reader of base station, and is screwed.
Data on wireless location base station are passed to host computer by wireless router by described wireless synchronous control device.
Described UWB positioning system is LINK UWB Wireless Networking high-accuracy position system, and adopt full Wireless technology to solve locator data transmission, network synchronous control, the technical barriers such as tag location scheduling, provide great networking flexibility and engineering convenience.
Described inertial navigation module model is AH100B, is a high performance AHRS (miniature attitude heading reference system), and this equipment, by the data of pick-up transducers, merges kalman filtering, exports real-time attitude data.
When described user seeks car, the determination of vehicle body position is based on vehicle body positioning label, seeks car label to realize; Described two labels are set to one group, represent respectively in map with different colours, and user only need arrange the position that client shows 2 labels, just can obtain the direction range information between parking spot and user.
The beneficial effects of the utility model are:
1. the utility model uses UWB technology and inertial navigation technology, without the need to by external force, can realize carrying out accurately monitoring in real time to the position of multiple moving vehicle and attitude, accurately find the parking stall of free time in large parking lot.
2. the utility model uses wireless module to carry out Wireless transceiver to data, realizes the dirigibility in monitoring place, convenient to operation.
3. the utility model positioning precision is high, and energy consumption is low, and signaling channel can be arranged, and effectively avoids co-channel interference and flexible for installation, is applicable to be difficult to lay the complex environment of circuit and build the application of positioning system temporarily.
4. this cover parking garage multiple goal combined tracking positioning system breaks through the locator meams by environmental constraints in the past, achieves in spatiality, real-time, and the vast improvement of quantitative and accuracy aspect, solves the problem that " parking difficulty " " seeks car difficulty " simultaneously.
Accompanying drawing explanation
Fig. 1 is the simple and easy hardware orientation diagram of UWB positioning system.
Fig. 2 is overall UWB hardware installation figure in parking lot of the present utility model.
Fig. 3 is vehicle location and client display parking stall condition diagram in parking lot of the present utility model.
Fig. 4 is vehicle combination positioning system structure figure in parking lot of the present utility model.
Fig. 5 is vehicle combination positioning system schematic diagram in parking lot of the present utility model.
Embodiment
As Fig. 1,2,3, in parking lot, Multi-Targets Tracking and Positioning System mainly contains 1 wireless synchronous control device, m*n platform wireless location base station, and vehicle body positioning label, seeks car label, inertial navigation module, portable power source module, wireless module; In positioning system, wireless location base station distribution in parking lot everywhere, locating base station be fixed with two kinds of patterns, can ceiling type Method for Installation, base station is fixed on the ceiling, also supporting mounting bracket can be used to be fixed on the sidewall of wall by base station, should be noted that the distance between two locating base station must not more than 30 meters, the setting height(from bottom) of locating base station should be greater than 2 meters, and be no less than 0.3 meter with the distance of wall, so both can improve positioning precision, the impact that signal reflects on wall can be avoided again; Wireless synchronous control device is arranged on side, wireless location base station, and height is identical with locating base station.With ruler, the length in whole parking lot and wide measurement are recorded, make one of them summit as true origin (0,0), determine the coordinate of all the other locating base station according to rectangular coordinate system, and keep a record.
As Fig. 1,2, before wireless location label Initialize installation, first positioning label (comprise vehicle body positioning label and seek car label) is placed on the position being not less than 1 meter high, recycling UWB debugging software, it is one group with 3 locating base station, carry out 4 delays to positioning label verify and preserve delayed data, complete the verification of a rectangular-shaped network.Be placed into by label in next rectangular-shaped locating base station network, carry out delay verification, concrete steps are identical with first time again.Then complete the verification of all rectangular-shaped base station networks successively, all positioning labels can come into operation.
As Fig. 3, automotive body positioning device is fixed with vehicle body positioning label, portable power source, wireless module and inertial navigation module; Wherein vehicle body positioning label can send a signal to wireless location base station, wireless location base station passes the signal to wireless synchronous control device, arrive the measuring method of poor (TDOA) service time, calculate the coordinate position residing for vehicle body positioning label, again data are transferred to master system by wireless router, by the concrete coordinate position of master system determination vehicle body positioning label; Inertial navigation module is powered by portable power source, sends attitude data and be sent to master system by wireless module according to displacement state.Upper computer software process data also obtain the attitude information of vehicle residing for current inertial navigation module, then send to mobile client.
The determination of described vehicle body particular location realizes based on wireless synchronous control device, wireless location base station, vehicle body positioning label, wireless router; Described vehicle body positioning label sends UWB signal to wireless location base station, and data are transferred to wireless synchronous control device by wireless channel by wireless location base station, and positioning precision is up to 10cm; Wireless synchronous control device transfers data to master system by wireless router, master system is used to carry out Initialize installation to positioning system, and adopt signal arrival time difference (TDOA) measuring technique, determine the particular location of target object.
The determination of described body gesture information realizes based on inertial navigation module, wireless module, portable power source module; Described wireless module specific software (X-CTU software) sets, and baud rate is identical with inertial navigation module, wireless module adopts portable power source to power, make to be connected on inertial navigation module on automotive body positioning device and wireless module all obtains power supply, the data that inertial navigation module exports are sent on master system by a pair wireless module, are obtained the 3 d pose data of target object by master system.
In described inertial navigation, accelerometer exports as speed increment, and gyroscope exports as angle increment, can obtain attitude and positional information by attitude algorithm and navigation calculation; But owing to there is integral error in solution process, so need the vehicle position data phase fusion calculation obtained with UWB positioning system.
The fusion computing of described master system, use reliability to carry out dynamic weighting algorithm to it to resolve, comparatively level and smooth motion track can be obtained in this way, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, accurately can obtain particular location and the attitude information of moving vehicle.
Concrete mode of operation is as follows:
1, the assembling of UWB positioning system and setting: by astronomical cycle below Reader, and be screwed, composition wireless location base station; By regulating the toggle switch of locating base station, the IP address of m*n base station is set to 192.168.0.1,192.168.0.2 respectively ... 192.168.0.255 the arbitrary address between except 192.168.0.8.Again the IP address of wireless synchronous control device is set to 192.168.0.8.Wireless location base station is arranged in parking lot according to such as Fig. 1 is rectangular-shaped, wireless location base station is installed with the direction of antennas orthogonal, registration can be made like this, ceiling type Method for Installation can be adopted to be installed on the ceiling base station, also supporting mounting bracket can be adopted to be fixed on the sidewall of wall by base station, should be noted that the distance between two locating base station must not more than 30 meters, the setting height(from bottom) of locating base station should be greater than 2 meters, and is no less than 0.3 meter with the distance of wall.Wireless synchronous control device is arranged on side, parking garage, to receive the data of other base stations simultaneously.
2, the setting of router: the LAN mouth IP address of router is set to 192.168.0.8, and wireless router is connected by netting twine with wireless synchronous control device, makes master system get label information.
Selecting 3, between the positioning area of parking garage: in parking lot, using a locating base station as true origin (0,0) base station in the upper left corner, can be selected as (0,0), the quantity of locating base station is used to determine the two-dimensional coordinate (X12 of all the other locating base station according to rectangular coordinate system principle and actual parking lot, Y12), (X13, Y13) ... (Xmn, Ymn), and be recorded in database, match with parking lot electronic chart.
4, the Initialize installation of positioning label: label (comprise vehicle body positioning label with seek car label) is placed in first square network formed with 4 base stations as Fig. 1-2, according to rectangular coordinate system determination tag coordinate (X, Y), and place height be not less than 1 meter.Use the debugging of UWB debugging software, first " setting of Reader coordinate system " hurdle is set, by the numbering (1 ~ 4) of 4 wireless base stations, IP address, coordinate information mixes up by arranging before, point " preservation "; Then " Reader time delay setting " hurdle is set, " two-dimensional calibration " " tag number " " tag coordinate " " Reader_ip " " time zero-bit " is set on request, wherein to divide into groups by locating area to whole wireless base station, and synchronizing relay verification is carried out to the wireless base station of each locating area.The wireless base station choosing in one group of wireless base station of verification one is set to time reference, carries out 4 time delay calibrations respectively.As first by wireless base station 1,2,3 composition verification groups, one group, three wireless base stations are tested, open delay test function in engine of positioning software, just automatically can calculate the time delay corrected parameter of other two wireless base stations, and time delay corrected parameter is set in the corrected parameter of respective wireless base station in engine of positioning software systems.Afterwards again with wireless base station 1,2,4 is one group, wireless base station 1,3,4 is one group, wireless base station 2,3,4 are one group carries out aforesaid operations acquisition time delay corrected parameter respectively, is placed into by label in the next square network be made up of 4 base stations again, the step before still performing after completing, until complete the location of last rectangular-shaped network, namely represent that positioning label initialization completes.
5, inertial navigation software debugging: software is opened, baud rate is set to iptimum speed according to actual conditions.
6, automotive body positioning device and seek the setting of car label: the above-mentioned label having completed Initialize installation is divided into two groups, and a group is used for vehicle body positioning label, and another group is used for seeking car label, and is matched one by one by two groups of labels, keeps a record in a database.Then by vehicle body positioning label, inertial navigation module, portable power source module, wireless module is fixed together and makes locating device, and portable power source is that inertial navigation module and wireless module are powered.Using automotive body positioning device with corresponding car label of seeking as one group, during use as set of device pairing use.
7, when vehicle is near Entrance, access management device can export a set of automotive body positioning device to car owner and seek car label.Automotive body positioning device is fixed on roof, seeks car label and then carry with.Access management device can by tag number simultaneously, and license plate number, the information records such as entry time are also saved in database, match with electronic chart.Due in parking lot, UWB locating device and inertial navigation module can detect position and the attitude information of vehicle respectively, therefore user only need use mobile client to download parking lot map, just can obtaining from host computer server the direction and position that the vacant parking space information in parking lot and vehicle now travel, during parking, not visible state can be set to by seeking car label.
8, when user needs to leave parking lot, can reuse client, arranging and seeking car label is visibility status, just can obtain the Distance geometry route now between user and vehicle.
9, when vehicle leaves parking lot, locating device is put back to access management device place with seeking together with car label.
As Fig. 4, parking garage electronic chart is comprised road information and parking space information is stored in database server, when vehicle sail into parking lot or parking stall have a car time, parking position information of park and vehicle running state can be sent to mobile client by server in real time, select best parking stall for user.Parking lot management personnel also can obtain parking condition in field simultaneously, so that better managing parking field.
As Fig. 5, in inertial navigation, accelerometer exports as speed increment, and gyroscope exports as angle increment, can obtain attitude and positional information by attitude algorithm and navigation calculation.But owing to there is integral error in solution process, so need the vehicle position data phase fusion calculation obtained with UWB positioning system, real time position and the attitude information of moving vehicle is calculated according to specific blending algorithm, by this account form, comparatively accurate motion track can be obtained, improve the positioning precision of mobile object, the mutual supplement with each other's advantages of both formation, accurately can obtain particular location and the attitude information of moving vehicle.And then match with parking lot electronic chart, use mobile client to obtain parking lot free parking space information and route map from server.Simultaneously user also can utilize and seek relative position between car label and vehicle body positioning label to find vehicle, can save the many time and efforts of user like this, solve the problem of " parking difficulty ", " seeking car difficulty " simultaneously.
Although the utility model with preferred embodiment openly as above; but it is also not used to limit the utility model; any person skilled in the art; not departing from spirit and scope of the present utility model; all can do various changes and modification, what therefore protection domain of the present utility model should define with claims is as the criterion.
Claims (8)
1. a parking garage Multi-Targets Tracking and Positioning System, is characterized in that: comprise access management device, automotive body positioning device, UWB positioning system, master system; Described UWB positioning system comprises wireless synchronous control device and wireless location base station; Described access management device is provided automotive body positioning device and is sought car label; Described automotive body positioning device comprises vehicle body positioning label, inertial navigation module, wireless module, portable power source module, and the data that described inertial navigation module exports send to host computer by wireless module; Described wireless location base station receives the signal that vehicle body positioning label sends, and the data on wireless location base station are passed to host computer by described wireless synchronous control device; The data that described master system reception inertial navigation module sends and the data that wireless synchronous control device sends, and real-time display position.
2. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, be characterised in that, the base plate of the wireless module on described automotive body positioning device adopts the portable power source of 5V to power, make to be connected on inertial navigation module on automotive body positioning device and wireless module all obtains power supply, the data that described inertial navigation module exports are sent by a pair wireless module.
3. a kind of parking garage according to claim 2 Multi-Targets Tracking and Positioning System, is characterised in that, described a pair wireless module, and one is fixed on car acoustic fix ranging device, and 1 is connected with host computer.
4. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described access management device seek car label, to match as set of device with vehicle body positioning label and use.
5. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described wireless location base station is made up of antenna and base station Reader, and astronomical cycle below the Reader of base station, and is screwed.
6. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, the data on wireless location base station are passed to host computer by wireless router by described wireless synchronous control device.
7. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described UWB positioning system is LINK UWB Wireless Networking high-accuracy position system.
8. a kind of parking garage according to claim 1 Multi-Targets Tracking and Positioning System, is characterised in that, described inertial navigation module model is AH100B.
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| CN201520177008.5U CN204461441U (en) | 2015-03-26 | 2015-03-26 | A kind of parking garage Multi-Targets Tracking and Positioning System |
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| CN201520177008.5U CN204461441U (en) | 2015-03-26 | 2015-03-26 | A kind of parking garage Multi-Targets Tracking and Positioning System |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107135484A (en) * | 2017-06-30 | 2017-09-05 | 成都智建新业建筑设计咨询有限公司 | It is a kind of to be applied to arenas and the indoor positioning device in library |
| CN110462418A (en) * | 2017-02-02 | 2019-11-15 | 弗劳恩霍夫应用研究促进协会 | Positioning using millimeter wave wave beam infrastructure to unmanned plane |
| CN111024059A (en) * | 2019-12-02 | 2020-04-17 | 上海金艺检测技术有限公司 | High-precision personnel positioning system and method for three-dimensional space in factory |
| CN112822641A (en) * | 2021-01-06 | 2021-05-18 | 江汉大学 | Port container positioning and tracking system |
| CN113945888A (en) * | 2021-10-19 | 2022-01-18 | 江南大学 | Interval passive positioning method and system based on TDOA |
-
2015
- 2015-03-26 CN CN201520177008.5U patent/CN204461441U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110462418A (en) * | 2017-02-02 | 2019-11-15 | 弗劳恩霍夫应用研究促进协会 | Positioning using millimeter wave wave beam infrastructure to unmanned plane |
| US11755037B2 (en) | 2017-02-02 | 2023-09-12 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Positioning of unmanned aerial vehicles using millimeter-wave beam infrastructure |
| CN110462418B (en) * | 2017-02-02 | 2024-02-06 | 弗劳恩霍夫应用研究促进协会 | Positioning of drones using millimeter wave beam infrastructure |
| CN107135484A (en) * | 2017-06-30 | 2017-09-05 | 成都智建新业建筑设计咨询有限公司 | It is a kind of to be applied to arenas and the indoor positioning device in library |
| CN111024059A (en) * | 2019-12-02 | 2020-04-17 | 上海金艺检测技术有限公司 | High-precision personnel positioning system and method for three-dimensional space in factory |
| CN112822641A (en) * | 2021-01-06 | 2021-05-18 | 江汉大学 | Port container positioning and tracking system |
| CN113945888A (en) * | 2021-10-19 | 2022-01-18 | 江南大学 | Interval passive positioning method and system based on TDOA |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150708 Termination date: 20160326 |