CN207742329U - A kind of tunnel Vehicle position and navigation system - Google Patents
A kind of tunnel Vehicle position and navigation system Download PDFInfo
- Publication number
- CN207742329U CN207742329U CN201820155973.6U CN201820155973U CN207742329U CN 207742329 U CN207742329 U CN 207742329U CN 201820155973 U CN201820155973 U CN 201820155973U CN 207742329 U CN207742329 U CN 207742329U
- Authority
- CN
- China
- Prior art keywords
- tunnel
- navigation
- base stations
- locating base
- navigation system
- 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
Landscapes
- Navigation (AREA)
Abstract
The utility model provides a kind of tunnel Vehicle position and navigation system, the technical issues of can not being navigated in tunnel which solve existing navigation equipment, it includes the multiple UWB locating base stations being set in tunnel, the positioning label being set on each target vehicle, the POE interchangers being connect respectively with each UWB locating base stations, the central server being connect with POE interchangers, the integrated navigation module and inertial navigation module being fixed in target vehicle, and the utility model can be widely used for the location navigation of vehicle in tunnel.
Description
Technical field
The utility model is related to vehicle mounted guidance technical fields, more particularly, to a kind of tunnel Vehicle position and navigation system.
Background technology
Vehicle mounted guidance technology is to rely on navigation equipment and receives at least 3 satellite institutes in earth-circling 24 GPS satellites
The position coordinates of transmission, and determine that vehicle accurate location in electronic map, existing navigation system are complete in conjunction with electronic map
The navigation signal sent out dependent on navigation satellite navigates, and as means of transportation are constantly flourishing, tunnel quantity is more and more, by
Satellite-signal can not be received in tunnel in navigation system, to obtain the current location of navigation equipment, vehicle is in tunnel
During middle traveling, navigation equipment just can not be normally that user navigates, and make troubles to driver.
Invention content
The technical issues of the utility model can not be navigated aiming at existing navigation equipment in tunnel, provides one kind
Can in tunnel accurate navigation tunnel Vehicle position and navigation system.
For this purpose, the utility model includes the multiple UWB locating base stations being set in tunnel, is set on each target vehicle
Positioning label, the central server being connect with POE interchangers, is consolidated the POE interchangers being connect respectively with each UWB locating base stations
Integrated navigation module and the inertial navigation module being scheduled in target vehicle.
Preferably, each POE interchangers can connect multiple UWB locating base stations, and each central server can connect more
A POE interchangers.
Preferably, inertial navigation module is MEMS inertial navigation modules, is fixed on position of centre of gravity inside target vehicle, is used for
Measure the navigation information of target vehicle.
Preferably, integrated navigation module uses STM-32 series monolithics as data processing unit.
Preferably, the navigation results of integrated navigation module output are shown by liquid crystal micro screen and are made for user's navigation
With.
Preferably, wireless communication module is equipped in UWB locating base stations, integrated navigation module passes through nothing with UWB locating base stations
The mode of line communication realizes the real-time Transmission of information.
Preferably, UWB locating base stations are mounted on tunnel internal top, 80 meters of each UWB locating base stations interval distance.
Preferably, positioning label is miniature flat label, is fixed at the top of target vehicle.
What the utility model obtained has the beneficial effect that：
(1) strong antijamming capability：Target vehicle is positioned using UWB location technologies, is not believed by high-voltage line, mobile phone
Number, the interference of the electromagnetic signals such as radio station, accurate positioning, and UWB positioning signal penetration capacitys are strong, the big vehicle of size difference in tunnel
Between block to its location precision very little.
(2) positioning system power is small：Vehicle location label 1Hz refresh rate power consumptions are 0.6mW, radiation of the label to human body
Less than 1 the percent of mobile phone, locating base station power consumption is 5W, both has considerably long cruising ability.
(3) positioning system capacity is big：Single region tunnel can be compatible with more positioning labels of 5000-10000, and positioning signal is covered
Lid range is wider, and the coverage area of this one-dimensional positioning pattern in tunnel, single base station location signal is 100-150 meters.
(4) positioning accuracy is high：UWB location technology precision is usually 10-20 centimetres, by itself and inertial navigation system progress pine
After coupling, positioning accuracy is further enhanced, it is sufficient to meet vehicle navigation needs in tunnel.
(5) stability is good：Inertial navigation module does not depend on external information, can independent navigation, all weather operations provides continuous
Property the navigation informations such as good and low noise position, speed and posture, data updating rate is high, short-term accuracy and stability are good.
The utility model provides seamless coverage in tunnel and is accurately positioned navigation system, and the height of real-time stabilization is provided for vehicle
UWB positioning systems and inertial navigation system are carried out good combination by precision location navigation service, and UWB positioning systems have
Very strong ability to communicate and the positioning accuracy for meeting navigation request, inertial navigation system can provide continuous short-term high precision position
It sets, speed and posture information, after the two information is carried out loose coupling with filtering algorithm, positioning accuracy can not only be improved and may be used also
To carry out timely error correction to inertial navigation system, and then reliable navigation letter in real time is provided for vehicle traveling in tunnel
Breath；Integrated navigation module data processing unit uses STM-32 series monolithics, facilitates the improvement at any time and update of algorithm routine,
The liquid crystal display of output module exports reliable navigation information in real time；It, can also be into using the identity recognition function of positioning label
The detection of row suspect vehicle provides work facility for public security department.
Description of the drawings
Fig. 1 is the system deployment and work sheet of the present embodiment；
Fig. 2 is the system structural framework figure of the present embodiment；
Fig. 3 is integrated navigation modular structure functional block diagram.
Specific implementation mode
Specific embodiment of the present utility model is described in detail with reference to the accompanying drawings.
As depicted in figs. 1 and 2, the utility model includes the multiple UWB locating base stations being set in tunnel, is set to each mesh
Positioning label, the POE interchangers being connect respectively with each UWB locating base stations on mark vehicle, the center that is connect with POE interchangers
Server, the integrated navigation module being fixed in target vehicle and inertial navigation module.
UWB locating base stations are mounted on tunnel internal top optimum receiving signal position, 80 meters of each UWB locating base stations interval
Distance, positioning label is the miniature flat label being fixed at the top of target vehicle, does not influence vehicle beauty；It is independently sharp to position label
Emit positioning signal, UWB locating base station real-time reception positioning signals, multiple UWB to UWB locating base stations with ultra-wideband impulse signal
Positioning signal is transmitted to central server by POE interchangers and carries out position, velocity calculated by base station, obtains the position of target vehicle
It sets and velocity information.
The position and speed information of target vehicle is transferred back to UWB locating base stations by central server by POE interchangers,
It is equipped with wireless communication module in UWB locating base stations, the position and speed information of target vehicle can be real-time transmitted to integrated navigation
Module.
Inertial navigation module is MEMS inertial navigation modules, position of centre of gravity inside target vehicle is fixed on, to improve target
The measurement accuracy of acceleration in vehicle movement, inertial navigation module are used to measure the navigation information of target vehicle, including position, speed
Navigation information is transferred to integrated navigation module by degree and posture information, inertial navigation module.
Integrated navigation module uses STM-32 series monolithics as data processing unit, using Extended Kalman filter
The target vehicle position and speed information that method sends the navigation information that is obtained from inertial navigation module with UWB locating base stations into
Row fusion, and then accurate navigation results are obtained, the navigation results of integrated navigation module output are shown by liquid crystal micro screen display
To navigate for user and use.
As shown in figure 3, inertial navigation module is made of inertia device and inertia solving unit, wherein inertia device includes one
Group gyroscope and acceierometer sensor, measures the angular speed and acceleration of mobile terminal respectively, and by this group of angular speed and
Acceleration issues inertia solving unit, calculates position, speed and the posture information of target vehicle.
Integrated navigation mould UWB data obtaining modules in the block are mainly used to carry out communication acquisition target with UWB locating base stations
Vehicle location and velocity information, the difference of the position, speed that later export it with inertial navigation unit is as integrated navigation mould
The input value of block, the algorithm that integrated navigation module uses are mainly Extended Kalman filter, the result that integrated navigation module resolves
Include the error estimate of inertia device, error correction is carried out to inertia device, inertial navigation unit uses amount of error correction
The angular speed and acceleration value at current time are corrected, and according to the position data of last moment, calculate current movement
Position, speed and the posture information at end, while position, speed and posture information are input to integrated navigation module, so that it is final
Export high-precision navigation information.
When target vehicle, which enters tunnel, to pass through satellite positioning, positioning label starts station-keeping mode, utilizes ultra wide band
Pulse signal launches position data, and UWB locating base stations receive in tunnel, and it is different fixed to calculate the arrival of vehicle location label signal
The time difference of position base station, then processing software resolves location information in central server, finally obtains target vehicle
Position calculates the speed of target vehicle movement, inertial navigation module by fixed range between adjacent position and time difference
The two information is merged and carries out integrated navigation, led by output target vehicle position, speed and posture information, integrated navigation module in real time
Boat result is shown to navigate for user by liquid crystal micro screen and be used, and realizes the essence of driving vehicle continuous seamless covering in tunnel
Quasi real time location navigation.
Only as described above, only specific embodiment of the utility model, when the utility model cannot be limited with this
The range of implementation, therefore the displacement of its equivalent assemblies, or according to equivalent variations made by the utility model patent protection domain and change,
It all should still belong to the scope that the utility model claims book is covered.
Claims (8)
1. a kind of tunnel Vehicle position and navigation system, which is characterized in that include multiple UWB locating base stations in tunnel, set
The positioning label that is placed on each target vehicle, the POE interchangers being connect respectively with each UWB locating base stations, with it is described
The central server of POE interchangers connection, the integrated navigation module and inertial navigation module being fixed in target vehicle.
2. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that each POE interchangers can be with
Multiple UWB locating base stations are connected, each central server can connect multiple POE interchangers.
3. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that the inertial navigation module is
MEMS inertial navigation modules are fixed on position of centre of gravity inside target vehicle, the navigation information for measuring target vehicle.
4. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that the integrated navigation module uses
STM-32 series monolithics are as data processing unit.
5. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that the integrated navigation module output
Navigation results by liquid crystal micro screen show for user navigate use.
6. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that be equipped in the UWB locating base stations
Wireless communication module, the integrated navigation module realize the reality of information with the UWB locating base stations through wireless communication
When transmit.
7. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that the UWB locating base stations are mounted on
Tunnel internal top, described 80 meters of distances in each UWB locating base stations interval.
8. tunnel Vehicle position and navigation system according to claim 1, it is characterised in that the positioning label is miniature flat
Shape label is fixed at the top of target vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820155973.6U CN207742329U (en) | 2018-01-30 | 2018-01-30 | A kind of tunnel Vehicle position and navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820155973.6U CN207742329U (en) | 2018-01-30 | 2018-01-30 | A kind of tunnel Vehicle position and navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207742329U true CN207742329U (en) | 2018-08-17 |
Family
ID=63123966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820155973.6U Active CN207742329U (en) | 2018-01-30 | 2018-01-30 | A kind of tunnel Vehicle position and navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207742329U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919181A (en) * | 2018-09-05 | 2018-11-30 | 成都精位科技有限公司 | UWB localization method, device and positioning label based on inertial navigation |
| CN109212573A (en) * | 2018-10-15 | 2019-01-15 | 东南大学 | For surveying and drawing the positioning system and method for vehicle under a kind of urban canyon environment |
| CN110187712A (en) * | 2019-07-12 | 2019-08-30 | 彭少华 | Unmanned control method, device and equipment |
| CN110672093A (en) * | 2019-08-23 | 2020-01-10 | 华清科盛(北京)信息技术有限公司 | Vehicle navigation positioning method based on UWB and inertial navigation fusion |
| CN111536988A (en) * | 2020-05-21 | 2020-08-14 | 广东博智林机器人有限公司 | Navigation method and system based on label |
| WO2020177225A1 (en) * | 2019-03-06 | 2020-09-10 | 东南大学 | Vehicle and road coordinated high-precision vehicle positioning method based on ultra-wideband |
| CN112504270A (en) * | 2020-12-08 | 2021-03-16 | 特路（北京）科技有限公司 | Facility and method for assisting vehicle positioning in tunnel |
| CN113340291A (en) * | 2021-04-30 | 2021-09-03 | 北京万集科技股份有限公司 | Navigation method, navigation device, computer equipment and storage medium |
-
2018
- 2018-01-30 CN CN201820155973.6U patent/CN207742329U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919181A (en) * | 2018-09-05 | 2018-11-30 | 成都精位科技有限公司 | UWB localization method, device and positioning label based on inertial navigation |
| CN109212573A (en) * | 2018-10-15 | 2019-01-15 | 东南大学 | For surveying and drawing the positioning system and method for vehicle under a kind of urban canyon environment |
| CN109212573B (en) * | 2018-10-15 | 2020-02-07 | 东南大学 | Positioning system and method for surveying and mapping vehicle in urban canyon environment |
| WO2020177225A1 (en) * | 2019-03-06 | 2020-09-10 | 东南大学 | Vehicle and road coordinated high-precision vehicle positioning method based on ultra-wideband |
| US11874366B2 (en) | 2019-03-06 | 2024-01-16 | Southeast University | High-precision vehicle positioning method based on ultra-wideband in intelligent vehicle infrastructure cooperative systems |
| CN110187712A (en) * | 2019-07-12 | 2019-08-30 | 彭少华 | Unmanned control method, device and equipment |
| CN110672093A (en) * | 2019-08-23 | 2020-01-10 | 华清科盛(北京)信息技术有限公司 | Vehicle navigation positioning method based on UWB and inertial navigation fusion |
| CN110672093B (en) * | 2019-08-23 | 2023-08-04 | 华清科盛(北京)信息技术有限公司 | Vehicle navigation positioning method based on UWB and inertial navigation fusion |
| CN111536988A (en) * | 2020-05-21 | 2020-08-14 | 广东博智林机器人有限公司 | Navigation method and system based on label |
| CN112504270A (en) * | 2020-12-08 | 2021-03-16 | 特路（北京）科技有限公司 | Facility and method for assisting vehicle positioning in tunnel |
| CN113340291A (en) * | 2021-04-30 | 2021-09-03 | 北京万集科技股份有限公司 | Navigation method, navigation device, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207742329U (en) | A kind of tunnel Vehicle position and navigation system | |
| CN106093858B (en) | A kind of positioning system and localization method based on UWB, RFID, INS multi-source alignment by union technology | |
| CN103076619B (en) | System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man | |
| CN109348409A (en) | Location processing method, device, intelligent hardware devices and storage medium | |
| CN105792135B (en) | A kind of method and device in positioning vehicle place lane | |
| CN107515384A (en) | The positioning of Indoor Robot based on UWB and multisensor and environmental modeling method | |
| CN106444752A (en) | Robot intelligent follow-up system and intelligent follow-up method based on wireless location | |
| CN106525044B (en) | The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing | |
| CN103543434B (en) | Indoor locating system, mobile phone and localization method | |
| CN107144867A (en) | The accurate space-time bus connected network communication monitoring terminal of the Big Dipper and its method of work | |
| CN206524912U (en) | Recreation ground high precision wireless alignment system | |
| CN101938287A (en) | Handheld satellite communication terminal and method for guiding user to align antenna with satellite by using same | |
| CN110687564A (en) | High-precision positioning system in train tunnel based on RFID | |
| CN106371124A (en) | Micro unmanned aerial vehicle positioning system based on cooperative mode | |
| CN101551250A (en) | Mobile robot landmark dynamic configuration method and device searching facing to unknown environments | |
| CN207318731U (en) | A kind of device for monitoring vehicle with Big Dipper positioning and directing | |
| CN109613584A (en) | The positioning and orienting method of unmanned truck based on UWB | |
| CN104459619A (en) | Car positioning method and device applied to GPS satellite signal dead zone | |
| CN107607974B (en) | It is a kind of can rapid deployment Emergency Logistics equip method for tracking and positioning | |
| CN112504270A (en) | Facility and method for assisting vehicle positioning in tunnel | |
| CN209530065U (en) | A kind of coordinate location device based on image | |
| CN107272034A (en) | A kind of reverse car seeking alignment system and method | |
| CN211123287U (en) | High-precision positioning system in train tunnel based on RFID | |
| CN205427178U (en) | A positioning system for accurate navigation of unmanned aerial vehicle | |
| CN115460692A (en) | High accuracy positioning terminal based on RTK + bluetooth hybrid location |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: The South China Sea Binhai northbound, Longhai Road East 264400 Shandong city of Weihai Province Patentee after: Weihai Wuzhou Satellite Navigation Technology Co., Ltd. Address before: The South China Sea Binhai northbound, Longhai Road East 264400 Shandong city of Weihai Province Patentee before: Weihai Wuzhou Satellite Navigation Technology Co., Ltd. |