CN212367530U - Passenger ship personnel positioning navigation system based on edge calculation - Google Patents
Passenger ship personnel positioning navigation system based on edge calculation Download PDFInfo
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Abstract
A passenger ship personnel positioning navigation system based on edge calculation comprises an upper computer, a position sensing unit and an edge calculation module, wherein the position sensing unit and the edge calculation module are arranged in each passenger ship cabin, and the position sensing unit comprises a fixed device, a mobile device and an RFID reader; the fixed equipment comprises a UWB base station, a base station ZigBee module and a ship body motion detection module; the mobile equipment comprises a UWB tag, a tag ZigBee module and a posture detection module; the edge calculation module comprises a high-performance single chip microcomputer and a ZigBee routing module, the high-performance single chip microcomputer performs fusion constraint calculation on collected distance data from a UWB tag to a UWB base station, passenger ship motion parameters and passenger ship personnel posture data to obtain position coordinates of the mobile equipment, and the position coordinate information is uploaded to an upper computer through an Ethernet after sequentially passing through a routing node, a sink node and a coordinator. The design has the advantages of low system delay, high positioning and navigation precision, simple deployment and good stability.
Description
Technical Field
The utility model relates to a passenger ship personnel location navigation especially relates to a passenger ship personnel location navigation based on edge calculation, is mainly applicable to and provides a low delayed location navigation of high accuracy.
Background
As an important water traffic transport tool, the large passenger ship has huge scale and bearing capacity, the deck often has multiple layers, each layer has a large number of cabins, the environment is complex and changeable, and great difficulty is brought to daily safety management of passenger ship personnel and timely and accurate rescue and evacuation when an emergency accident happens. Indoor positioning and navigation systems are commonly developed and researched.
Because the number of passenger ship cabins is large, the motion state of a ship body is changeable, the ship cabins are relatively closed, and the influence of steel partition on multimode signals is large, the problems of high system delay and larger error in sailing exist in the application of the traditional indoor positioning method to a large-sized ship, and therefore the development of a high-precision low-delay real-time positioning navigation system in a passenger ship has very important significance for emergency escape and daily safety management of passenger ship personnel.
Disclosure of Invention
The utility model aims at overcoming the defect and the problem that the system delay that exists is high among the prior art, the location navigation precision is low, providing a passenger ship personnel location navigation that the system delay is low, the location navigation precision is high based on edge calculation.
In order to achieve the above purpose, the technical solution of the utility model is that: a passenger ship personnel positioning navigation system based on edge calculation comprises an upper computer, a position sensing unit and an edge calculation module, wherein the position sensing unit and the edge calculation module are arranged in each passenger ship cabin, and the position sensing unit is in signal connection with the upper computer after sequentially passing through the edge calculation module, a routing node, a sink node and a coordinator;
the position sensing unit comprises fixed equipment, mobile equipment and an RFID reader, wherein the mobile equipment and the RFID reader are fixed on passenger ship personnel in a passenger ship cabin;
the fixed equipment comprises a UWB base station, a base station ZigBee module and a ship body motion detection module;
the ship body motion detection module is used for acquiring passenger ship motion parameters in real time;
the mobile equipment comprises a UWB tag, a tag ZigBee module and a posture detection module;
the attitude detection module is used for acquiring the attitude data of passenger ship personnel in real time;
the RFID reader is used for identifying the user identity information entering and exiting the passenger ship cabin;
the edge calculation module comprises a high-performance singlechip and a ZigBee routing module;
the ZigBee routing module is used for collecting distance data from a UWB tag to a UWB base station, passenger ship motion parameters and passenger ship personnel posture data;
the distance data from the UWB tag to the UWB base station is measured through multiple communications of the UWB tag and the UWB base station;
the high-performance single chip microcomputer is used for carrying out fusion constraint calculation on data collected by the ZigBee routing module to obtain the position coordinates of the mobile equipment, and uploading position coordinate information to the upper computer after sequentially passing through the routing node, the sink node and the coordinator through the Ethernet.
The mobile device is connected to the fixed device using a star network topology.
The UWB base station comprises a total base station and a plurality of branch base stations, the number of the branch base stations is more than or equal to three, and the arrangement positions of the total base station and any two branch base stations are not on the same straight line, or the arrangement positions of any three branch base stations are not on the same straight line.
The number of the branch base stations is three, a main base station and the three branch base stations are respectively arranged at four corners of the passenger ship cabin, and the main base station is connected with the edge calculation module through a serial port.
And the master base station is used for transmitting the distance data from the UWB tag to the UWB base station, the passenger ship motion parameters and the passenger ship personnel posture data to the edge calculation module.
The passenger ship motion parameters comprise speed, acceleration and angular rate, and are used for compensating distance data errors from a UWB tag to a UWB base station and passenger ship personnel attitude data errors in a dynamic ship body environment.
And the upper computer is used for receiving the position coordinate information of all the mobile devices sent by the coordinator, displaying the position coordinate information in a two-dimensional map form in real time, and recording or sending the position coordinate information to a remote command center.
The edge calculation module is installed at the passenger cabin doorway.
The RFID reader is mounted at an entrance to the passenger cabin.
The fixed equipment is powered by an external 5V power supply; the mobile device is powered by a 3.3V lithium battery.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model relates to a passenger ship personnel location navigation based on edge calculation all sets up UWB base station and edge calculation module in each passenger ship cabin, and utilize edge calculation module to gather UWB label in real time and to the distance data of UWB base station, passenger ship personnel gesture data and passenger ship motion parameter fuse the restraint calculation, finally obtain passenger ship personnel's accurate position, speed and gesture data, the design not only utilizes the instant high-efficient characteristics of edge calculation, when the cabin on the passenger ship and removal label are huge, can disperse huge data handling capacity to each individual space and carry out local solution and processing, make the information that the server received be the data after solving and processing, the efficiency of data transmission is obviously improved, thereby the problem of system delay has greatly been improved, and need not the wiring, deployment is simple, good stability, the positioning space can be expanded, and the device is very suitable for the ship environment with inconvenient wiring. Therefore, the utility model discloses not only greatly improved the problem that the system postponed, it is simple, stable good to arrange moreover.
2. The utility model relates to an before fusing the restraint and calculating among passenger ship personnel location navigation based on edge calculation, edge calculation module can carry out the error compensation to UWB label to the distance data of UWB basic station and passenger ship personnel attitude data according to passenger ship motion parameter, this design carries out the error compensation to passenger ship personnel's attitude data and UWB range finding to dynamic indoor environment when navigating, can not the accumulative error, thereby effectively compensate the positioning error that dynamic environment brought, improve the precision of location navigation. Therefore, the utility model provides high positioning navigation's precision.
Drawings
Fig. 1 is a block diagram of the passenger ship personnel positioning and navigation system architecture based on edge computing.
Fig. 2 is a schematic view of node deployment of passenger ship personnel positioning and navigation system based on edge computing.
In the figure: the system comprises an upper computer 1, a position sensing unit 2, a fixed device 21, a UWB base station 211, a base station ZigBee module 212, a ship motion detection module 213, a mobile device 22, a UWB tag 221, a tag ZigBee module 222, a posture detection module 223, an RFID reader 23, an edge calculation module 3, a routing node 4, a sink node 5, a coordinator 6 and an existing sensing device 7.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, the passenger ship personnel positioning navigation system based on edge calculation comprises an upper computer 1, and a position sensing unit 2 and an edge calculation module 3 which are arranged in each passenger ship cabin, wherein the position sensing unit 2 is in signal connection with the upper computer 1 after sequentially passing through the edge calculation module 3, a routing node 4, a sink node 5 and a coordinator 6;
the position sensing unit 2 comprises a fixed device 21, a mobile device 22 fixed on a passenger ship person in a passenger ship cabin and an RFID reader 23;
the fixed equipment 21 comprises a UWB base station 211, a base station ZigBee module 212 and a ship body motion detection module 213;
the ship body motion detection module 213 is used for acquiring passenger ship motion parameters in real time;
the mobile device 22 comprises a UWB tag 221, a tag ZigBee module 222, and a posture detection module 223;
the attitude detection module 223 is used for acquiring the attitude data of passenger ship personnel in real time;
the RFID reader 23 is used for identifying the user identity information entering and exiting the passenger ship cabin;
the edge calculation module 3 comprises a high-performance singlechip and a ZigBee routing module;
the ZigBee routing module is used for collecting distance data from the UWB tag 221 to the UWB base station 211, passenger ship motion parameters and passenger ship personnel posture data;
the distance data from the UWB tag 221 to the UWB base station 211 is measured by a plurality of communications of the UWB tag 221 and the UWB base station 211;
the high-performance single chip microcomputer is used for carrying out fusion constraint calculation on data collected by the ZigBee routing module to obtain the position coordinates of the mobile equipment, and uploading the position coordinate information to the upper computer 1 after sequentially passing through the routing node 4, the sink node 5 and the coordinator 6 through the Ethernet.
The mobile device 22 is connected to the fixed device 21 using a star network topology.
The UWB base station 211 includes a total base station and a plurality of sub base stations, the number of the sub base stations is greater than or equal to three, and the arrangement positions of the total base station and any two sub base stations are not on the same straight line, or the arrangement positions of any three sub base stations are not on the same straight line.
The number of the branch base stations is three, a total base station and the three branch base stations are respectively arranged at four corners of the passenger ship cabin, and the total base station is connected with the edge calculation module 3 through a serial port.
The master base station is used for transmitting the distance data from the UWB tag 221 to the UWB base station 211, the passenger ship motion parameters, and the passenger ship personnel posture data to the edge calculation module 3.
The passenger ship motion parameters comprise speed, acceleration and angular rate, and are used for compensating a distance data error from the UWB tag 221 to the UWB base station 211 and a passenger ship personnel attitude data error in a dynamic ship body environment.
The upper computer 1 is used for receiving the position coordinate information of all the mobile devices 22 sent by the coordinator 6, displaying the position coordinate information in a two-dimensional map form in real time, and recording or sending the position coordinate information to a remote command center.
The edge calculation module 3 is installed at the passenger compartment entrance.
The RFID reader 23 is installed at the entrance and exit of the passenger compartment.
The fixed equipment 21 is powered by an external 5V power supply; the mobile device 22 is powered by a 3.3V lithium battery.
The principle of the utility model is explained as follows:
the passenger ship is divided into independent position sensing units (comprising fixed equipment, mobile equipment and RFID readers) by taking cabins as units, each position sensing unit operates independently, data optimization processing is carried out on the influence of dynamic indoor environment, cabin relative tightness and steel partition on multimode signals when the ship is in voyage through a method based on edge calculation, so that accurate position coordinates are obtained immediately, the independent position sensing units of each cabin are accessed to a network through routing nodes, and other independent position sensing network units arranged in corridors, staircases and other positions form a position sensing network of the whole deck, network information of each deck is forwarded to a coordinator through aggregation nodes, and the coordinator collects the information to an upper computer of a work station, so that a personnel position monitoring network of the whole ship is formed.
In this design, every mobile device can bind with cell-phone APP through unique ID, when carrying out initialization operation, thereby mutual communication marks every fixed equipment's position coordinate between the fixed equipment, marginal calculation module will obtain passenger ship personnel's accurate position, speed and gesture data upload to the server on with these data feedback to cell-phone APP through WIFI, the server side can be through the flow of people of each region of these data real-time supervision, can fix a position the navigation to passenger ship personnel's position when passenger ship personnel take place emergency fast to expansion rescue and sparse crowd.
Distance data of UWB tag to UWB base station: the data is measured through multiple communications of the UWB tag and the UWB base station, and measurement errors caused by clock offset can be eliminated.
When the system is used, the mobile device is fixed on a passenger ship personnel in each passenger ship cabin, and the fixed device, the mobile device and the edge calculation module positioned in the passenger ship cabin are initialized.
The fusion constraint calculation uses distance data from a UWB tag to a UWB base station as a state variable, uses passenger ship personnel attitude data and passenger ship motion parameters as correction variables, performs fusion calculation on the state variable and the correction variables in a tight coupling mode, then performs Kalman filtering on a fusion calculation result, obtains accurate position, speed and attitude data, uploads the accurate position, speed and attitude data to a server, and feeds back the accurate position, speed and attitude data to a mobile phone APP through a WIFI module, wherein the tight coupling mode is as follows: and the distance data from the UWB tag to the UWB base station is used as measurement information, the correction variable is used as a constraint, and the fixed node is assisted to update the position, the speed and the posture.
Example (b):
referring to fig. 1 and 2, the passenger ship personnel positioning navigation system based on edge calculation comprises an upper computer 1, and a position sensing unit 2 and an edge calculation module 3 which are arranged in each passenger ship cabin, wherein the position sensing unit 2 is in signal connection with the upper computer 1 after sequentially passing through the edge calculation module 3, a routing node 4, a sink node 5 and a coordinator 6; the position sensing unit 2 comprises a fixed device 21, a mobile device 22 fixed on a passenger ship person in a passenger ship cabin and an RFID reader 23;
the fixed equipment 21 is used as a position base station of a position perception network, the position coordinates of the fixed equipment are known and fixed, and the fixed equipment comprises a UWB base station 211, a base station ZigBee module 212 and a ship body motion detection module 213; the UWB base station 211 comprises a total base station and three sub base stations, wherein the total base station and the three sub base stations are respectively arranged at four corners of the passenger wheel cabin, and the total base station is connected with the edge calculation module 3 through a serial port; the ship body motion detection module 213 is used for acquiring passenger ship motion parameters in real time; the passenger ship motion parameters comprise speed, acceleration and angular rate, and are used for compensating a distance data error from a UWB tag 221 to a UWB base station 211 and a passenger ship personnel attitude data error in a dynamic ship body environment; the fixed equipment 21 is powered by an external 5V power supply;
the mobile device 22 is a wearable device with low power consumption and low load, is connected to the fixed device 21 by adopting a star-shaped network topological structure, and calculates the distance to each nearby fixed device by utilizing a TOA bilateral ranging algorithm to construct a two-dimensional plane coordinate system; the mobile device 22 comprises a UWB tag 221, a tag ZigBee module 222, a posture detection module 223, and a passive RFID tag; the label ZigBee module is used for establishing a multi-hop ad hoc network and dynamically accessing each fixed device and each mobile device into a personnel position sensing network; the attitude detection module 223 is used for acquiring the attitude data of passenger ship personnel in real time; the mobile device 22 is powered by a 3.3V lithium battery;
the general base station is used for transmitting distance data from the UWB tag 221 to the UWB base station 211, passenger ship motion parameters and passenger ship personnel posture data to the edge calculation module 3;
the RFID reader 23 is installed at an entrance and an exit of the passenger ship cabin (also at an entrance and an exit of a corridor or a stair), and the RFID reader 23 is used for identifying the identity information of users entering and exiting the passenger ship cabin, so that the position sensing network can perform partition positioning and management on personnel by using the identity information of the users;
the edge computing module 3 is arranged at an entrance and an exit of the passenger ship cabin and comprises a high-performance single chip microcomputer and a ZigBee routing module; the ZigBee routing module is used for collecting distance data from the UWB tag 221 to the UWB base station 211, passenger ship motion parameters and passenger ship personnel posture data; the distance data from the UWB tag 221 to the UWB base station 211 is measured by a plurality of communications of the UWB tag 221 and the UWB base station 211; the high-performance single chip microcomputer is used for carrying out fusion constraint calculation on data collected by the ZigBee routing module to obtain the position coordinates of the mobile equipment, and uploading position coordinate information to the upper computer 1 after sequentially passing through the routing node 4 (each layer of deck), the sink node 5 and the coordinator 6 through the Ethernet;
the upper computer 1 is matched with position sensing network software written by languages such as C + +/C #, receives position coordinate information of all the mobile devices 22 sent by the coordinator 6 in real time, displays the position coordinate information in a two-dimensional map form in real time, and records the position coordinate information locally or sends the information to a remote command center through a 5G/GPRS network.
Claims (4)
1. The passenger ship personnel positioning and navigation system based on edge calculation is characterized by comprising an upper computer (1), and a position sensing unit (2) and an edge calculation module (3) which are arranged in each passenger ship cabin, wherein the position sensing unit (2) is in signal connection with the upper computer (1) after sequentially passing through the edge calculation module (3), a routing node (4), a sink node (5) and a coordinator (6);
the position sensing unit (2) comprises a fixed device (21), a mobile device (22) fixed on a passenger ship person in a passenger ship cabin and an RFID reader (23);
the fixed equipment (21) comprises a UWB base station (211), a base station ZigBee module (212) and a ship body motion detection module (213);
the ship body motion detection module (213) is used for acquiring passenger ship motion parameters in real time;
the passenger wheel motion parameters comprise speed, acceleration and angular rate;
the mobile device (22) comprises a UWB tag (221), a tag ZigBee module (222) and a gesture detection module (223);
the mobile device (22) is connected to the fixed device (21) using a star network topology;
the UWB base station (211) comprises a total base station and three branch base stations, the total base station and the three branch base stations are respectively arranged at four corners of the passenger wheel cabin, and the total base station is connected with the edge calculation module (3) through a serial port;
the general base station is used for transmitting distance data from the UWB tag (221) to the UWB base station (211), passenger ship motion parameters and passenger ship personnel posture data to the edge calculation module (3);
the attitude detection module (223) is used for acquiring the attitude data of passenger ship personnel in real time;
the RFID reader (23) is arranged at an entrance and an exit of the passenger ship cabin and is used for identifying the user identity information entering and exiting the passenger ship cabin;
the edge computing module (3) is arranged at an entrance and an exit of the passenger ship cabin and comprises a high-performance single chip microcomputer and a ZigBee routing module;
the ZigBee routing module is used for collecting distance data from a UWB tag (221) to a UWB base station (211), passenger ship motion parameters and passenger ship personnel posture data;
the distance data from the UWB tag (221) to the UWB base station (211) is measured through multiple communications between the UWB tag (221) and the UWB base station (211);
the high-performance single chip microcomputer is used for carrying out fusion constraint calculation on data collected by the ZigBee routing module to obtain the position coordinates of the mobile equipment, and uploading the position coordinate information to the upper computer (1) after sequentially passing through the routing node (4), the sink node (5) and the coordinator (6) through the Ethernet.
2. An edge computing based passenger ship personnel positioning and navigation system as claimed in claim 1, wherein: the speed, the acceleration and the angular rate are used for compensating a distance data error from a UWB tag (221) to a UWB base station (211) and a passenger ship personnel attitude data error in a dynamic ship body environment.
3. An edge computing based passenger ship personnel positioning and navigation system as claimed in claim 1, wherein: and the upper computer (1) is used for receiving the position coordinate information of all the mobile devices (22) sent by the coordinator (6), displaying the position coordinate information in a two-dimensional map form in real time, and recording or sending the position coordinate information to a remote command center.
4. An edge computing based passenger ship personnel positioning and navigation system as claimed in claim 1, wherein: the fixed equipment (21) adopts an external 5V power supply for power supply; the mobile device (22) is powered by a 3.3V lithium battery.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117240955A (en) * | 2023-11-16 | 2023-12-15 | 中钢集团武汉安全环保研究院有限公司 | UWB tag intelligent management method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117240955A (en) * | 2023-11-16 | 2023-12-15 | 中钢集团武汉安全环保研究院有限公司 | UWB tag intelligent management method and device |
| CN117240955B (en) * | 2023-11-16 | 2024-01-12 | 中钢集团武汉安全环保研究院有限公司 | UWB tag intelligent management method and device |
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