CN206740990U - A kind of indoor and outdoor seamless positioning system - Google Patents
A kind of indoor and outdoor seamless positioning system Download PDFInfo
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- CN206740990U CN206740990U CN201720615593.1U CN201720615593U CN206740990U CN 206740990 U CN206740990 U CN 206740990U CN 201720615593 U CN201720615593 U CN 201720615593U CN 206740990 U CN206740990 U CN 206740990U
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Abstract
The utility model discloses a kind of indoor and outdoor seamless positioning system, the Big Dipper base station subsystem being connected including data processing centre's subsystem and respectively with data processing centre subsystem, indoor UWB positions subsystem, the Big Dipper/UWB movement stations subsystem and system monitoring subsystem, Big Dipper positioning and UWB are positioned the implement current position coordinates determined and be sent to system monitoring subsystem and carry out visualization by data processing centre's subsystem to be shown, simultaneously implement and entrance identification point are calculated according to implement current position coordinates, export identification point and the spatial relation of switching judging tag slot, realize the bidirectional self-adaptive switching of indoor and outdoor integrated positioning.Compared with prior art, the utility model has the advantages that：Positioned by Beidou navigation, the fusion of ultra-wideband real-time positioning system, realize the consecutive tracking of indoor and outdoor plant equipment, so as to realize the uninterrupted positioning of plant equipment and monitoring.
Description
Technical field
It is seamless fixed to the utility model is related to the indoor and outdoor that a kind of Beidou navigation is combined with UWB (Ultra Wideband) technology
Position system.
Background technology
In the market increasingly increases indoor and outdoor seamless positioning technical need in recent years at present.Along with market indoor positioning and
The development of pilotless automobile, the market of indoor and outdoor seamless positioning will be broken out.Solve the Big Dipper by indoor and outdoor location technology to lead
Boat positioning, RFID positioning, Zigbee positioning etc. are only used for the deficiency of indoor or outdoors location technology, by its several composition one
Organic whole, various environment scenes can be applied to.For dissipating general cargo wharf, implement outer high accuracy indoors be present
Consecutive tracking demand.
Beidou satellite navigation system (Beidou NavigationSatellites System, BDS) is that China is real
Independent development capability, the GPS of independent operating applied, it is country's slightly great space fundamental facilities of property.In harbor navigating
In, satellite fix is high by its precision, and operation and maintenance is simple, and it is extremely general factor, the application such as not influenceed by outside climatic condition
Time.But currently used harbor navigating is both for GPS system, and with Beidou satellite navigation system progressively construction with it is complete
Kind, application conditions of the big-dipper satellite in harbor navigating are also gradually ripe.The Beidou satellite navigation system independently built using China
System, realize that accurate reliable navigator fix is significant to the safety guarantee at harbour.
Ultra-wideband real-time positioning system, including the part such as sensor, the network switch, location processor, netting twine.Its
In, sensor is the most important components of positioning unit, has point of master and slave sensor in software platform, master reference leads to
Cross time line synchro and be connected to every from sensor, every time synchronizing signal that master reference is received from sensor.From sensing
Location data is transferred to master reference and is jointly processed by data by device, is each connected to main sensing from sensor having time line synchro
Device.Transducer position unit be by one or more sensor groups into region.It is fixed to enter in the label that positioning unit registered
During bit location, the UWB signal that label is sent can be received by one or more sensors, from sensor decoder UWB signal and transmission
The angle and time difference information of arrival, and by these data transfers to master reference, master reference, which collects all data, finally to be counted
Calculate the positional information of label.
It is mostly in the market outdoor positioning for bulk cargo terminals machinery high accuracy positioning, not for the company of indoor and outdoor
Continuous high accuracy positioning product.
The content of the invention
The shortcomings that the utility model overcomes in the prior art, there is provided a kind of indoor and outdoor seamless positioning system, utilize north
Struggle against navigator fix, the state-of-the-art technology of ultra-wideband real-time positioning system, with reference to the implement real time job of indoor and outdoor, it is intended to solve
Problems with：
(1) indoor implement real-time high-precision positioning application；
(2) outdoor implement real-time high-precision positioning application；
(3) the continuous real-time high-precision positioning application of the implement of indoor and outdoor.
The technical solution of the utility model is：A kind of indoor and outdoor seamless positioning system, including data processing centre's subsystem
The Big Dipper base station subsystem that is connected respectively with data processing centre subsystem, indoor UWB positioning subsystem, the Big Dipper/UWB are moved
Dynamic station subsystem and system monitoring subsystem, wherein：
The Big Dipper base station subsystem is used to receive big-dipper satellite location observation data, generates differential corrections, and lead to
Cross data processing centre's subsystem and be transmitted to the Big Dipper/UWB movement station subsystems；
The indoor UWB positioning subsystem is used to determine UWB label positions, and is forwarded by data processing centre's subsystem
To the Big Dipper/UWB movement station subsystems；
The data that the Big Dipper/UWB movement stations subsystem receives data processing centre's subsystem forwarding realize that the Big Dipper positions
With UWB positioning functions, implement current position coordinates are determined, and coordinate is sent to data processing centre's system；
Big Dipper positioning and UWB are positioned the implement current position coordinates determined and sent out by data processing centre's subsystem
Give system monitoring subsystem and carry out visualization and show, while implement is calculated with entering according to implement current position coordinates
The spatial relation of mouthful identification point, outlet identification point and switching judging tag slot, realize indoor and outdoor integrated positioning it is two-way from
Adapt to switching.
Compared with prior art, the utility model has the advantages that：Positioned by Beidou navigation, ultra-wideband real-time positioning system
Fusion, the consecutive tracking of indoor and outdoor plant equipment is realized, so as to realize the uninterrupted positioning of plant equipment and monitoring.Specific table
It is now as follows：
1. indoor high accuracy positioning is realized using UWB technology；
2. outdoor high accuracy positioning is realized using Beidou navigation location technology；
3. realize that indoor and outdoor continuous seamless positions with Beidou navigation location technology using UWB.
Brief description of the drawings
The utility model will illustrate by example and with reference to the appended drawing, wherein：
Fig. 1 is the structural representation of this indoor and outdoor seamless positioning system；
Fig. 2 is indoor ultra-wideband alignment system schematic diagram；
Fig. 3 is that WGS84 coordinate systems define schematic diagram.
Embodiment
The indoor and outdoor seamless positioning system combined based on Beidou navigation with UWB technology, as shown in figure 1, including Big Dipper benchmark
Standing, subsystem, data processing centre's subsystem, the Big Dipper/UWB movement stations subsystem, indoor UWB position subsystem, system monitoring divides
System.
Big Dipper base station subsystem equipment mainly includes Big Dipper reference receiver, Beidou antenna and power module.The Big Dipper
Reference receiver selects high-precision Beidou receiver；Power module is converted to 220V electric mains the dc source of voltage stabilizing,
Powered to Big Dipper reference receiver.Big Dipper benchmark station antenna is arranged on open place, such as harbour office building roof.Should during installation
Ensure there is no the higher electromagnetic interference source for blocking thing and influenceing Big Dipper normal work around it in the range of 200 meters.Realize high-precision
The base station difference coverage about 10Km of RTK positioning is spent, a base station can meet the difference needs in whole dock operation area.
The Big Dipper/UWB movement stations include the Big Dipper positioning with UWB positioning functions, mainly comprising register control, Beidou antenna,
UWB positioning label, power module etc., register control integrate high-precision Big Dipper board and ALU, memory cell and
WIFI communication module.The Big Dipper/UWB movement stations receive the differential corrections of data processing centre's system forwards, determine current location
Coordinate, and coordinate is sent to data processing centre's system.
Indoor UWB positioning subsystem include multiple distributing installations build indoors ceiling UWB locating signal receivers and
There are multiple Ethernet interfaces to be connected with signal receiver netting twine for one UWB location processor, location processor, and with data
Reason is connected centrally through network.UWB locating signal receivers are used for calibration position and receive UWB positioning label signals, and will letter
Breath is sent to UWB location processors.UWB location processor combination UWB locating signal receivers positions and UWB positioning label letters
Breath, determine that UWB positions label position, and send it to data processing centre's system.
System monitoring subsystem is deployed in harbour Central Control Room, for the visualization display Big Dipper/UWB movements on harbour map
Station location.
Data processing centre's subsystem is deployed in harbour computer room, by harbour industrial network and Big Dipper base station subsystem,
The Big Dipper/UWB movement stations subsystem, indoor UWB positioning subsystem, the connection of system monitoring subsystem, responsible data forwarding and the Big Dipper/
UWB location data fusion treatments, it is the core processing unit of system.
First, Big Dipper positioning (outdoor positioning)
Big Dipper base station receives big-dipper satellite location observation data, using known base station accurate coordinates, with observation
It is compared, so as to draw amendment number, i.e. differential corrections, and is moved by data processing centre's system forwards to the Big Dipper/UWB
Stand.
The register control of the Big Dipper/UWB movement stations realizes that wireless network connects by WiFi technology, receives Big Dipper base station
The Big Dipper differential data such as observation data that subsystem is broadcast and survey station coordinate information, and it is transmitted to the high accuracy north inside movement station
Strickle card, high-precision Big Dipper board receive after differential corrections compared with the observation of itself, eliminate most of error, obtain
To high accuracy positioning data, including longitude, latitude, height, so as to realize Big Dipper high accuracy positioning.
2nd, UWB positions (indoor positioning)
After implement is got in, real-time high-precision positioning can not use Satellite Navigation Technique, and RFID, WIFI etc.
Positioning means are unable to reach the requirement of decimeter grade positioning precision.So using Beidou navigation and ultra-wideband wireless location technology knot
Close.
UWB locating signal receivers are disposed with trellis on ceiling indoors, and by the UWB labels in the Big Dipper/UWB movement stations
Implement upper top is fixed on, by the information of location receivers real-time reception label, and UWB location processors is forwarded to and enters
Row processing, by receiving at least three receiver positional information of label position information, distance and angle information to label,
The real-time three-dimensional position of wherein each label can be calculated, then according to the position of all labels on vehicle, calculates work in real time
The position of industry equipment and attitude data, so as to realize the positioning of movement station indoors.
Location receivers are arranged under ceiling, 50 meters is spaced and forms trellis distribution, receiver is protected using dust cover, and
And be fixed in an installs case, power-supply device is placed in installs case, live each location receivers use shielded cable string
Connection connection, it is eventually connected to the location processor at scene.28 receivers are substantially installed in 100MX460M canopy.It is active fixed
Position label：Active location label is installed on to the position that facilitates at the top of implement, large-scale implement such as stacker-reclaimer
Deng, one can be put for every 10 meters or so in the tail end of big machine, on machine top, cantilever, so effectively carry out position detection.Label is complete
Closing encapsulation, installation are very easy.Every big machine can install 4-5 label.As shown in Figure 2.
3rd, indoor and outdoor seamless positioning
1st, indoor and outdoor spaces coordinate system is unified
System needs the unified indoor spatial coordinate system with outdoor, in order to the visualization table to indoor and outdoor terrestrial object information
Reach and provide precondition for machinery positioning.System is used as coordinate system benchmark using WGS-84 coordinate systems (such as Fig. 3).By means of
Indoor locating system and other mapping equipments and instrument, are realized under different positioning methods, different coordinate-systems to the outdoor Big Dipper
The uniform spaces information representation of alignment system and indoor positioning, position switching for indoor and outdoor and service provides precondition.System
Indoor local coordinate system is converted in real time, and rotated, makes two coordinate system directions consistent.Simultaneously by the original of indoor coordinate system
Point is moved to WGS-84 coordinate origin.
2nd, indoor and outdoor integrated positioning switches
Indoor and outdoor positioning switching is to realize effective conversion of positioning method between interior and outdoor.Determine for outdoor and interior
For the system of position, different positioning signal overlay areas determines respective positioning action scope, and positioning switching by opening respectively
Open and realized with closing processing from a kind of positioning method to the transition of another positioning method, while merge these sphere of actions, prop up
Hold the positioning service integrated system for adapting to indoor and outdoor wider region.System determines according to current positioning signal situation
Using a kind of mode of which kind of location technology.
Covering and Zone switched feature are positioned according to indoor and outdoor, the entrance identification point in positioning handoff procedure is set, exported
Identification point and switching judging tag slot.
By indoor and outdoor locating module, judge that current location is indoors or outdoor, and obtain mechanical real time position letter
Breath, current location and the spatial relation of entrance identification point, outlet identification point and switching judging tag slot are calculated, and will be above-mentioned
Foundation of the relation as switching localization method.
By the spatial relationship currently calculated and its quantized value compared with switching threshold set in advance, according to indoor and outdoor
Switching law is positioned, realizes the bidirectional self-adaptive switching of indoor and outdoor integrated positioning.
(1) it is outdoor to switch to indoor positioning
System obtains current dipper system space coordinates, judges current location and indoor entrance mark, the space of tag slot
The spatial relationship of position, three groups of data are recorded, judge machinery whether progressively to indoor operation according to distance value variation tendency.As just
To indoor operation, then by the distance value calculated when switching from outdoor to interior apart from threshold values compared with, as sentencing
Whether fixed machinery just intends to enter the mark of interior.Such as judge that machinery has been enter into interior, then system opens UWB indoor positioning moulds
Formula, Big Dipper positioning is closed, complete the outdoor automatic switchover for arriving indoor positioning.
(2) it is indoor to switch to outdoor positioning
System obtains current UWB system position coordinates, judges current location and indoor outlet mark, the space bit of tag slot
The spatial relationship put, three groups of data are recorded, judge machinery whether progressively to outdoor operation according to distance value variation tendency.As
To outdoor operation, then by the distance value calculated when switching from interior to outdoor apart from threshold values compared with, use judge
Whether machinery just intends to enter the mark of outdoor.Such as judge that machinery has been enter into outdoor, then Big Dipper positioning mould outside system opening chamber
Formula, UWB positioning is closed, complete the indoor automatic switchover for arriving outdoor positioning.
Claims (4)
- A kind of 1. indoor and outdoor seamless positioning system, it is characterised in that：Including data processing centre's subsystem and respectively with data The Big Dipper base station subsystem of reason center subsystem connection, indoor UWB position subsystem, the Big Dipper/UWB movement stations subsystem and are System monitoring subsystem, wherein：The Big Dipper base station subsystem is used to receive big-dipper satellite location observation data, generates differential corrections, and pass through number The Big Dipper/UWB movement station subsystems are transmitted to according to processing center subsystem；The indoor UWB positioning subsystem is used to determine UWB label positions, and is transmitted to north by data processing centre's subsystem Bucket/UWB movement station subsystems；The data that the Big Dipper/UWB movement stations subsystem receives data processing centre's subsystem forwarding realize Big Dipper positioning and UWB Positioning function, implement current position coordinates are determined, and coordinate is sent to data processing centre's system；Big Dipper positioning and UWB are positioned the implement current position coordinates determined and are sent to by data processing centre's subsystem System monitoring subsystem carries out visualization and shown, while calculates implement and entrance mark according to implement current position coordinates Know the spatial relation of point, outlet identification point and switching judging tag slot, realize the bidirectional self-adaptive of indoor and outdoor integrated positioning Switching.
- A kind of 2. indoor and outdoor seamless positioning system according to claim 1, it is characterised in that：The Big Dipper base station divides The antenna of system is arranged on open place, without blocking thing and electromagnetic interference source in the range of 200 meters around installation site.
- A kind of 3. indoor and outdoor seamless positioning system according to claim 1, it is characterised in that：The indoor UWB positioning point System includes the UWB locating signal receivers and a UWB location processor that multiple distributing installations build ceiling indoors, described UWB location processors are connected by Ethernet interface with UWB locating signal receiver netting twines, and pass through the network switch and data Processing center subsystem connects.
- A kind of 4. indoor and outdoor seamless positioning system according to claim 3, it is characterised in that：The UWB positioning signals connect Receive 50 meters of device interval and form trellis distribution, each UWB locating signal receivers are protected using dust cover, and are fixed on a peace In vanning, power-supply device is placed in installs case, each UWB locating signal receivers are connected in series using shielded cable.
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| CN201720615593.1U CN206740990U (en) | 2017-05-27 | 2017-05-27 | A kind of indoor and outdoor seamless positioning system |
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| CN201720615593.1U CN206740990U (en) | 2017-05-27 | 2017-05-27 | A kind of indoor and outdoor seamless positioning system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024709A (en) * | 2017-05-27 | 2017-08-08 | 北京国泰星云科技有限公司 | A kind of indoor and outdoor seamless positioning system and method |
| CN108845344A (en) * | 2018-05-04 | 2018-11-20 | 桂林电子科技大学 | One kind being based on BDS satellite and ultra wide band bimodulus localization method |
| CN109613584A (en) * | 2018-12-27 | 2019-04-12 | 北京主线科技有限公司 | The positioning and orienting method of unmanned truck based on UWB |
| CN110515108A (en) * | 2019-07-04 | 2019-11-29 | 同济大学 | Operation on the sea field personnel safety status monitoring and early warning system |
| WO2020062531A1 (en) * | 2018-09-28 | 2020-04-02 | 北斗天地股份有限公司 | Positioning device and positioning method therefor |
| CN112526572A (en) * | 2020-11-30 | 2021-03-19 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN114323014A (en) * | 2021-09-16 | 2022-04-12 | 国网思极神往位置服务（北京）有限公司 | Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system |
-
2017
- 2017-05-27 CN CN201720615593.1U patent/CN206740990U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024709A (en) * | 2017-05-27 | 2017-08-08 | 北京国泰星云科技有限公司 | A kind of indoor and outdoor seamless positioning system and method |
| CN108845344A (en) * | 2018-05-04 | 2018-11-20 | 桂林电子科技大学 | One kind being based on BDS satellite and ultra wide band bimodulus localization method |
| WO2020062531A1 (en) * | 2018-09-28 | 2020-04-02 | 北斗天地股份有限公司 | Positioning device and positioning method therefor |
| CN109613584A (en) * | 2018-12-27 | 2019-04-12 | 北京主线科技有限公司 | The positioning and orienting method of unmanned truck based on UWB |
| CN109613584B (en) * | 2018-12-27 | 2023-01-06 | 北京主线科技有限公司 | UWB-based positioning and orientation method for unmanned card concentrator |
| CN110515108A (en) * | 2019-07-04 | 2019-11-29 | 同济大学 | Operation on the sea field personnel safety status monitoring and early warning system |
| CN112526572A (en) * | 2020-11-30 | 2021-03-19 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN112526572B (en) * | 2020-11-30 | 2022-08-30 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN114323014A (en) * | 2021-09-16 | 2022-04-12 | 国网思极神往位置服务（北京）有限公司 | Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system |
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