WO2020187275A1

WO2020187275A1 - Movable target entity positioning method and device

Info

Publication number: WO2020187275A1
Application number: PCT/CN2020/080053
Authority: WO
Inventors: 聂泳忠
Original assignee: 西人马（厦门）科技有限公司
Priority date: 2019-03-19
Filing date: 2020-03-18
Publication date: 2020-09-24
Also published as: CN110095817A

Abstract

A movable target entity (230) positioning method and a device, the method comprising: a movable target entity (230) having a reception unit (220) disposed thereon, the reception unit (220) using an induction coil for receiving signals, and a transmission unit (210) using a transmission coil for transmitting signals; the reception unit (220) receiving a positioning signal from the transmission unit (210), the positioning signal comprising identity information of the transmission unit (210) and status information of the transmission coil (S110); the reception unit (220) sending the positioning signal to a first computation unit (240) (S120); and the first computation unit (240), on the basis of the positioning signal, computing coordinate parameters and attitude parameters for the movable target entity (230) (S130). The method and device are able, to a certain degree, to enhance positioning accuracy, thus achieving the accurate positioning of a movable target entity (230).

Description

Method and device for positioning movable target

Cross references to related applications

This application claims the priority of the Chinese patent application with the title of "Mobile Target Positioning Method and Device" and the application number of 201910208482.2 filed on March 19, 2019. The entire content of this application is incorporated herein by reference. .

Technical field

The present invention relates to the technical field of intelligent transportation, in particular to a method and device for positioning a movable target.

Background technique

With economic and social development, the global car ownership continues to grow. At the same time, traffic accidents occur from time to time, and road traffic safety has become a hot spot of social concern. In order to improve the safety of road traffic, it is of great significance to rely on informatization and intelligent technology to protect traffic safety.

In terms of road traffic safety, obtaining the position information of a movable target (for example, a vehicle) through a certain technical means to guide the driving of the vehicle can avoid traffic accidents to a certain extent.

However, at present, global positioning system (Global Positioning System, GPS) positioning, Beidou positioning, and location-based service (Location Based Service, LBS) positioning, etc., can achieve different positioning accuracy, which requires higher positioning accuracy. However, the existing positioning solutions are increasingly unable to meet the needs of practical applications.

Summary of the invention

The embodiments of the present application provide a method and device for positioning a movable target. By using a first calculation unit to calculate the coordinate parameters and attitude parameters of the movable target based on the positioning signal from the transmitting unit, the positioning accuracy is improved and the movable target is realized. Precise positioning of objects.

In the first aspect, an embodiment of the present application provides a method for positioning a movable target. The movable target is equipped with a receiving unit, the receiving unit receives signals through an induction coil, and the transmitting unit transmits signals through the transmitting coil;

Methods for positioning movable targets include:

The receiving unit receives the positioning signal from the transmitting unit, and the positioning signal includes the identity information of the transmitting unit and the status information of the transmitting coil;

The receiving unit sends the positioning signal to the first calculation unit;

The first calculation unit calculates coordinate parameters and posture parameters of the movable target based on the positioning signal.

According to the implementation of the first aspect of the present application, both the transmitting coil and the induction coil are three-axis coils.

According to any of the foregoing embodiments of the first aspect of the present application, the state information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil.

According to any one of the foregoing implementation manners of the first aspect of the present application, the first calculation unit calculates the coordinate parameters and posture parameters of the movable target based on the positioning signal, including:

According to the calculation formula of the magnetic dipole model, the first calculation unit inputs the state information of the transmitting coil as the model input, calculates the relative position parameters between the receiving unit and the transmitting unit and the posture parameters of the movable target, and based on the relative position parameters And the identity information of the transmitting unit, and calculate the coordinate parameters of the movable target.

According to any one of the foregoing implementation manners of the first aspect of the present application, the movable target positioning method further includes:

During the movement of the movable target, the receiving unit obtains the identity information of multiple transmitting units and sends it to the second computing unit;

The second calculating unit obtains the position information of the first transmitting unit according to the identity information of the first transmitting unit among the multiple transmitting units;

The second calculating unit calculates the coordinate parameters of the movable target based on the position information of the first transmitting unit and the signal coverage of the first transmitting unit.

In the second aspect, an embodiment of the present application provides a movable target positioning device, the device includes: a receiving unit and a first calculating unit, wherein:

The receiving unit is used to receive the positioning signal of the transmitting unit through the induction coil and send the positioning signal to the first calculation unit; wherein the transmitting unit transmits the positioning signal through the transmitting coil, and the positioning signal includes the identity information of the transmitting unit and the status information of the transmitting coil;

The first calculation unit is used for calculating coordinate parameters and posture parameters of the movable target based on the positioning signal.

According to the implementation of the second aspect of the present application, both the transmitting coil and the induction coil are three-axis coils.

According to any one of the foregoing embodiments of the second aspect of the present application, the state information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil, and the first calculation unit is used to calculate the state of the transmitting coil according to the calculation formula of the magnetic dipole model. The information is used as model input to calculate the relative position parameters between the receiving unit and the transmitting unit and the posture parameters of the movable target, and based on the relative position parameters and the identity information of the transmitting unit, the coordinate parameters of the movable target are calculated.

According to any of the foregoing implementation manners of the second aspect of the present application, the movable target positioning device further includes a second calculation unit, and the receiving unit is further configured to send the positioning signal of the transmitting unit to the second calculation unit;

The second calculation unit is used to obtain the position information of the transmitting unit according to the identity information of the transmitting unit, and calculate the coordinate parameters of the movable target based on the position information of the transmitting unit and the signal coverage of the transmitting unit.

According to any one of the foregoing implementations of the second aspect of the present application, the movable target is a vehicle equipped with a receiving unit, and multiple transmitting units are arranged on the road,

The device also includes a data processing unit for processing coordinate parameters and posture parameters of multiple vehicles traveling along the road.

The movable target positioning method and device provided by the embodiments of the present application can improve the positioning accuracy to a certain extent by using the first calculation unit to calculate the coordinate parameters and attitude parameters of the movable target based on the positioning signal from the transmitting unit. Accurate positioning of movable targets.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings that need to be used in the embodiments of the present application. For those of ordinary skill in the art, without creative work, Other drawings can be obtained from these drawings.

FIG. 1 shows a schematic flowchart of a method for positioning a movable target provided by an embodiment of the present application;

FIG. 2 shows a schematic diagram of the relative positional relationship between a transmitting unit, a receiving unit, and a movable target provided by an embodiment of the present application;

FIG. 3 shows a schematic diagram of a model for calculating the relative position parameter between the receiving unit and the transmitting unit and the posture parameter of a movable target provided by an embodiment of the present application;

Fig. 4 shows a schematic structural diagram of a movable target positioning device provided by an embodiment of the present application.

detailed description

The features and exemplary embodiments of each aspect of the application will be described in detail below. In order to make the objectives, technical solutions, and advantages of the application clearer, the application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only configured to explain the present application, and not configured to limit the present application. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also includes Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "including..." does not exclude the existence of other same elements in the process, method, article, or equipment that includes the element.

FIG. 1 shows a schematic flowchart of a method for positioning a movable target according to an embodiment of the present application. The method 100 for positioning a movable target includes:

S110. The receiving unit receives the positioning signal from the transmitting unit. The positioning signal includes the identity information of the transmitting unit and the status information of the transmitting coil. The movable target is equipped with a receiving unit, the receiving unit receives the signal through the induction coil, and the transmitting unit passes The transmitting coil transmits signals;

S120: The receiving unit sends the positioning signal to the first calculating unit;

S130: The first calculation unit calculates coordinate parameters and attitude parameters of the movable target based on the positioning signal.

Using the above solution provided by the embodiments of the application, the first calculation unit calculates the coordinate parameters and attitude parameters of the movable target according to the positioning signal from the transmitting unit, which can improve the positioning accuracy to a certain extent and realize the accuracy of the movable target Positioning.

The following describes specific optional processing procedures of the embodiments of the present application through specific examples. The solution of this application does not depend on a specific algorithm. In practical applications, any known or unknown hardware, software, algorithm, program or any combination thereof can be used to implement the solution of this application, as long as the application is adopted. The essential ideas of the plan all fall into the scope of protection of this application.

As an example, FIG. 2 shows a schematic diagram of the relative positional relationship between the transmitting unit, the receiving unit, and the movable target in an embodiment of the present application.

As shown in FIG. 2, in one embodiment, the movable target may be a vehicle 230. A plurality of transmitting units 210 are installed on both sides of the extending direction of the road. The vehicle 230 is equipped with a receiving unit 220 and a plurality of transmitting units 210. Each of them can transmit a positioning signal, and the receiving unit 220 can receive a positioning signal of one of the transmitting units 210 or simultaneously receiving a positioning signal of a plurality of transmitting units 210.

Specifically, when the vehicle 230 travels to the current position, the positioning signal sent by the transmitting unit 210 at the current position is sent to the receiving unit 220 through a transmission protocol (for example, WIFI or Bluetooth, etc.), and the receiving unit 220 sends the received positioning signal For the first calculation unit, after receiving the positioning signal, the first calculation unit performs a series of processing and calculations to calculate the coordinate parameters and attitude parameters of the vehicle 230.

In this embodiment, the distribution mode of the multiple transmitting units 210 includes but is not limited to equal interval distribution, and the transmitting unit 210 sends positioning signals including but not limited to sending signals at fixed intervals.

In other embodiments, the difference from the previous embodiment is that a transmitting unit 210 is installed on both sides of the road. When the vehicle 230 equipped with the receiving unit 220 runs along the road, the receiving unit 220 receives the positioning of the transmitting unit 210. Signal so that the first calculation unit calculates the relative position relationship between the receiving unit 220 and the transmitting unit 210 according to the positioning signal, thereby obtaining the relative position relationship between the vehicle 230 and the transmitting unit 210.

In some embodiments, the manner in which the transmitting unit 210 transmits the positioning signal includes active transmission or passive transmission. Among them, the active transmission method refers to a method in which the transmitting unit 210 continuously broadcasts its positioning signal; passive transmission refers to a method in which the transmitting unit 210 can perceive the receiving unit 220 and send the positioning signal when the receiving unit 220 is close to the transmitting unit 210. In this way, when the receiving unit 220 is not close to the transmitting unit 210, the transmitting unit 210 will not actively transmit a positioning signal. In addition, the realization of the perception process between the transmitting unit 210 and the receiving unit 220 includes, but is not limited to, establishing a connection using Bluetooth, WIFI, or the like.

In addition, the first calculation unit may be arranged at a preset position (for example, a vehicle body) of the movable target or may be arranged at a remote position.

Wherein, when the first computing unit is set at the preset position of the vehicle 230 and moves with the movement of the vehicle 230, when the vehicle 230 with the receiving unit 220 and the first computing unit is running on the road where the transmitting unit 210 is installed Upon uploading, the receiving unit 220 can detect the positioning signal transmitted by the transmitting unit 210 in a non-contact manner, and the receiving unit 220 sends the received positioning signal to the first calculation unit in the form of a digital signal or an analog signal, and the first calculation unit receives After the positioning signal is received, the coordinate parameters and attitude parameters of the vehicle 230 are calculated.

When the first calculation unit is set at a remote location, the receiving unit 220 sends the received positioning signal to the first calculation unit in a remote wireless manner, so that the first calculation unit calculates the coordinate parameters and attitude parameters of the vehicle 230 according to the positioning signal .

Among them, in the foregoing embodiment, the positioning signal includes the identity information of the transmitting unit 210 and the state information of the transmitting coil, the receiving unit 220 receives the signal through the induction coil, and the transmitting unit 210 transmits the signal through the transmitting coil.

In an alternative embodiment, both the transmitting coil and the induction coil are three-axis coils.

As an example, an embodiment of the present application may use a three-axis coil as the emission source, and pass an AC or DC pulse signal into it, so that a magnetic field can be induced around the coil.

In the above embodiment, the state information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil.

In an optional embodiment, step S130 may be refined into the following steps:

As an example, since one or more transmitting units 210 are fixed on the road surface on both sides of the road, once the position of the transmitting unit 210 is determined, the identity information (ID) and position information of the transmitting unit 210 will be Stored in the database, the first computing unit can obtain the location information of the transmitting unit 210 by calling the identity information of the corresponding transmitting unit 210 in the database.

In addition, the state information of the transmitting coil is used to calculate the relative position parameters between the transmitting unit 210 and the receiving unit 220 and the posture parameters of the movable target, according to the position information of the transmitting unit 210 and the relationship between the transmitting unit 210 and the receiving unit 220 The position parameter of the movable target (ie, the receiving unit 220) can be obtained.

As an example, refer to FIG. 3, which shows a schematic diagram of a model for calculating the relative position parameter between the receiving unit and the transmitting unit and the posture parameter of the movable target in an embodiment of the present application.

In the embodiment shown in Figure 3, it is assumed that the origin O(0,0,0) of the transmission coordinate system O-XYZ is the transmission coil, where the origin O(0,0,0) is the transmission coil (can wait The center of the effect is a magnetic dipole), and the receiving unit is located at point P. The transmitting unit contains a three-axis electromagnetic coil (hereinafter referred to as the three-axis coil). Similarly, the receiving unit also includes a Three-axis coil, the transmitting unit transmits signals through the transmitting coil, and the receiving unit receives signals through the induction coil. The first computing center can calculate the relative position parameters between the receiving unit and the transmitting unit and the posture of the movable target according to the received positioning signal. The parameters are based on the magnetic dipole model, where I is the current of the transmitting coil,

Is the unit direction vector of the magnetic dipole moment, μ ₀ is the vacuum permeability, and N respectively represents the number of turns of the transmitting coil, then the magnetic induction intensity at the target point P(x, y, z) is:

among them,

And μ ₀ , N, and I are all known terms.

Specifically, each axis of the three-axis coil can be equivalent to a magnetic dipole model. According to formula (1), the induced electromotive force generated by the induction coil in the receiving unit includes the relative relationship between the receiving unit and the transmitting unit. The position parameter and the posture parameter of the movable target, the transmitting coordinate system O-XYZ is composed of three orthogonal transmitting coils, and the positioning coordinate system P-X'Y'Z' is composed of three orthogonal receiving coils.

Among them, each transmitting coil can be equivalent to a magnetic dipole, and the magnetic induction intensity generated at the target point P can be decomposed into three orthogonal components B _x , B _y and B _z according to the transmitting coordinate system O-XYZ ,Calculated as follows:

When a transmitting coil is working, the three orthogonal receiving coils of the positioning coordinate system P-X'Y'Z' will respectively induce the magnetic induction intensity components B _x ', B _y 'and B _z along their own axial direction. '. The three magnetic induction component B _x ', B _y' and B _z 'may each rotational transform, i.e., first rotation α angle around the X axis by the components B _x, B _y, B _z the coordinate axes, and rotated about the Y axis β angle, finally rotate the γ angle around the Z axis, the calculation formula is as follows:

Among them, (α, β, γ) represent the posture parameters of the movable target, B′ _x , B′ _y and B′ _z are known quantities, and according to formulas (2) to (4), B _x , B _y and B _{z are} related to the position of the positioning coordinate point, where the rotation matrix R of formula (5) is defined as:

R=Rot(z,γ)Rot(y,β)Rot(x,α) (6)

Next, substituting formulas (7) to (9) into formula (6), and then substituting formulas (2) to (4) and formula (6) into formula (5) to obtain three formulas, which contain The unknown quantities are (x, y, z) and (α, β, γ).

In addition, in order to obtain the 6 degrees of freedom information of the positioning coordinate system, at least two transmitting coils are required to obtain six equations. In this embodiment, there are three orthogonal transmitting coils in the transmitting coordinate system. 9 equations are obtained, and the relative position parameters P (x, y, z) and attitude parameters (α, β, γ) between the corresponding transmitting unit and the receiving unit can be solved. For ease of description, details are not repeated here.

Next, according to the position information of the transmitting unit obtained in the foregoing embodiment and the relative position parameters between the transmitting unit and the receiving unit, the position parameters of the movable target (ie, the receiving unit 220) can be obtained.

The positioning of the movable target through the above technical solutions, compared with the positioning methods such as GPS and LBS in the prior art, improves the positioning accuracy to a certain extent and realizes the precise positioning of the movable target.

In some embodiments, the first calculation unit may send the obtained position parameters of all vehicles driving along the road to the data processing unit in a remote wireless manner, so that the data processing unit summarizes the position parameters of all vehicles and manages and publishes them. . For example, the data processing unit can realize road operation status monitoring and traffic evacuation system according to the position parameters of all vehicles.

The above solutions provided by the embodiments of this application can avoid all kinds of interference by directly installing the transmitting unit on the road, and after installing the receiving unit on any movable target, it can realize the non-contact reading of the positioning signal from the transmitting unit , To achieve the "dialogue" between the road and the movable target, to obtain more accurate location information, with the characteristics of high positioning accuracy, easy implementation, and low cost, which can escort automatic driving and smart travel.

In some embodiments, the movable target positioning method includes the following steps in addition to the steps S110-S130 of the movable target positioning method 100 described in the foregoing embodiment:

The second calculating unit calculates the coordinate parameters of the movable target based on the position information of the first transmitting unit and the signal coverage range of the first transmitting unit.

As an example, since one or more transmitting units are fixed on the road surface on both sides of the road, once the position of the transmitting unit is determined, the identity information (ID) and location information of the transmitting unit will be stored in the database in.

Specifically, during the movement of the movable target, the receiving unit obtains the identity information of multiple transmitting units and sends them to the second computing unit, and the second computing unit can obtain the first transmitting unit's identity information by calling the first transmitting unit in the database. Location information of a transmitting unit.

Among them, the receiving unit compares the signal strengths of the signals received from multiple transmitting units to obtain the strongest signal strength from the first transmitting unit among the multiple transmitting units. In this embodiment, only the first transmitting unit can be obtained. The identity information of the transmitting unit.

Next, according to the obtained position information of the first transmitting unit and the signal coverage of the first transmitting unit, the coordinate parameters of the movable target are calculated.

The embodiment of the present application may provide a movable target positioning device. Referring to FIG. 4, FIG. 4 shows a schematic structural diagram of the movable target positioning device of an embodiment of the present application. The device includes a receiving unit 220 and a first calculating unit. 240, of which:

The receiving unit 220 is configured to receive the positioning signal of the transmitting unit 210 through the induction coil and send the positioning signal to the first calculation unit 240; wherein the transmitting unit 210 transmits the positioning signal through the transmitting coil, and the positioning signal includes the identity information of the transmitting unit 210 and Status information of the transmitting coil;

The first calculation unit 240 is configured to calculate coordinate parameters and posture parameters of the movable target based on the positioning signal.

Using the above solution provided by the embodiments of the present application, by using the first calculation unit 240 to calculate the coordinate parameters and attitude parameters of the movable target based on the positioning signal, the positioning accuracy is improved to a certain extent, and the precise positioning of the movable target is realized. .

In the foregoing embodiment, the state information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil. The first calculation unit 240 is used to input the state information of the transmitting coil as the model input according to the calculation formula of the magnetic dipole model. The relative position parameters between the receiving unit 220 and the transmitting unit 210 and the posture parameters of the movable target are calculated, and the coordinate parameters of the movable target are calculated based on the relative position parameters and the identity information of the transmitting unit.

In some embodiments, the movable target positioning device may include the following units in addition to the receiving unit 220 and the first calculation unit 240 of the movable target positioning device as described in the foregoing embodiments:

The second calculating unit, the receiving unit is further configured to send the positioning signal of the transmitting unit to the second calculating unit;

In some embodiments, the movable target positioning device may include the following units in addition to the receiving unit and the first calculation unit of the movable target positioning device as described in the foregoing embodiments:

The data processing unit is used to process the coordinate parameters and posture parameters of multiple vehicles traveling along the road, where the movable target is a vehicle equipped with a receiving unit, and multiple transmitting units are arranged on the road.

The following describes specific optional processing procedures of the embodiments of the present application through specific examples. It should be noted that the solution of this application does not depend on specific algorithms. In practical applications, any known or unknown hardware, software, algorithm, program or any combination thereof can be used to implement the solution of this application, as long as It adopts the essential ideas of the scheme of this application, and all fall into the protection scope of this application.

Referring to FIG. 4, FIG. 4 shows a schematic structural diagram of a movable target positioning device according to an embodiment of the present application.

As shown in FIG. 4, a plurality of transmitting units 210 are provided on the road. The distribution method includes but is not limited to equidistant distribution, and the transmitting unit 210 can send signals at fixed intervals, and the movable target 230 is equipped with a receiving unit 220. With the first calculation unit 240, the receiving unit 220 may receive positioning signals from one or more of the transmitting units 210 in a non-contact manner (such as wireless transmission) and send the received signals to the first calculation unit 240, The first calculation unit 240 receives the positioning signal in a local wired manner or a remote wireless manner, and calculates one or more of the coordinate parameter and the attitude parameter of the vehicle according to the positioning signal.

It should be noted that the embodiment shown in FIG. 4 is only exemplary. In other embodiments, a transmitting unit 210 may also be provided on the road surface. In addition, the first calculation unit 240 may also be located at a remote location, that is, not set on the movable target.

Specifically, the transmitting unit 210 transmits positioning signals through the transmitting coil, the receiving unit 220 receives positioning signals from one or more transmitting units 210 through the induction coil, and the receiving unit 220 will receive positioning signals from one or more of the transmitting units 210. Send to the first calculation unit 240, where the positioning signal includes the identity information of the transmitting unit 210 and the status information of the transmitting coil. When the signal strength of the first transmitting unit of the multiple transmitting units 210 is the strongest, the first calculating unit 240 obtains the location information of the first transmitting unit according to the identity information of the first transmitting unit.

Next, the first calculating unit 240 calculates the relative positional relationship between the transmitting unit 210 and the receiving unit 220 according to the state information of the transmitting coil, where the state information includes the current of the transmitting coil and the number of turns of the transmitting coil. The calculation unit 240 is used to input the state information of the transmitting coil as the model input according to the calculation formula of the magnetic dipole model, calculate the relative position parameter between the receiving unit 220 and the transmitting unit 210 and the posture parameter of the movable target, and based on The relative position parameter and the position information of the transmitting unit 210 are used to calculate the coordinate parameter of the movable target.

In an embodiment, the receiving unit 220 is used to receive the positioning signal of the transmitting unit 210 in a non-contact manner.

In an embodiment, both the first calculation unit 240 and the second calculation unit may be used to receive signals in a local wired manner or a remote wireless manner; for example, when the first calculation unit 240 or the second calculation unit is installed in a vehicle, The signal is received in a local wired manner; when the first computing unit 240 or the second computing unit is set remotely, the signal is received in a remote wireless manner.

In some embodiments, in addition to the receiving unit 220 and the first calculation unit 240 of the movable target positioning device as described in the previous embodiment, the movable target positioning device may also include a data processing unit for correcting The coordinate parameters and posture parameters of multiple vehicles traveling along the road are processed. The movable target is a vehicle equipped with a receiving unit, and multiple transmitting units 210 are arranged on the road.

In some embodiments, in addition to the receiving unit 220, the first calculation unit 240, and the second calculation unit of the movable target positioning device as described in the previous embodiment, the movable target positioning device may also include data processing. The unit is used to process the coordinate parameters and attitude parameters of multiple vehicles traveling along the road. The movable target is a vehicle with a receiving unit, and multiple transmitting units 210 are arranged on the road.

As an example, the first calculation unit 240 or the second calculation unit sends the vehicle coordinate parameters and/or posture parameters to the data processing unit in a remote wireless manner, and the data processing unit summarizes and manages the coordinate parameters and/or posture parameters of all vehicles And release; for example, the data processing unit can monitor the road running status and conduct traffic evacuation through vehicle coordinate parameters.

Other details of the movable target locating device according to the embodiment of the present application are similar to the movable target locating method according to the embodiment of the present application described above with reference to FIGS. 1 to 3, and will not be repeated here.

Each part of this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the description of the method embodiment part.

Claims

A method for positioning a movable target, wherein a receiving unit is mounted on the movable target, the receiving unit receives a signal through an induction coil, and the transmitting unit transmits a signal through a transmitting coil;

The method includes:

The receiving unit receives a positioning signal from the transmitting unit, the positioning signal including the identity information of the transmitting unit and the state information of the transmitting coil;

The receiving unit sends the positioning signal to the first calculation unit;

The first calculation unit calculates coordinate parameters and posture parameters of the movable target based on the positioning signal.
The method according to claim 1, wherein the transmitting coil and the induction coil are both triaxial coils.
The method according to claim 2, wherein the status information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil.
The method according to claim 3, wherein the calculation of the coordinate parameter and the posture parameter of the movable target by the first calculation unit based on the positioning signal comprises:

The first calculation unit inputs the state information of the transmitting coil as a model input according to the calculation formula of the magnetic dipole model, and calculates the relative position parameters between the receiving unit and the transmitting unit and the movable target And calculating the coordinate parameter of the movable target based on the relative position parameter and the identity information of the transmitting unit.
The method according to claim 1, wherein the method further comprises:

During the movement of the movable target, the receiving unit obtains the identity information of the multiple transmitting units and sends it to the second computing unit;

The second calculating unit obtains the position information of the first transmitting unit according to the identity information of the first transmitting unit of the plurality of transmitting units;

The second calculation unit calculates the coordinate parameter of the movable target based on the position information of the first transmitting unit and the signal coverage of the first transmitting unit.
A device for positioning a movable target, wherein the device includes a receiving unit and a first calculating unit, wherein,

The receiving unit is used to receive the positioning signal of the transmitting unit through an induction coil and send the positioning signal to the first calculation unit; wherein the transmitting unit transmits the positioning signal through the transmitting coil, and the positioning signal includes The identity information of the transmitting unit and the state information of the transmitting coil;

The first calculation unit is configured to calculate coordinate parameters and posture parameters of the movable target based on the positioning signal.
The device according to claim 6, wherein the transmitting coil and the induction coil are both three-axis coils.
7. The device according to claim 7, wherein the state information of the transmitting coil includes the current of the transmitting coil and the number of turns of the transmitting coil, and the first calculation unit is used for calculation according to the magnetic dipole model Formula, input the state information of the transmitting coil as a model input, calculate the relative position parameter between the receiving unit and the transmitting unit and the attitude parameter of the movable target, and based on the relative position parameter and the The identity information of the transmitting unit is used to calculate the coordinate parameters of the movable target.
The device according to claim 6, wherein the device further comprises a second calculating unit, and the receiving unit is further configured to send the positioning signal of the transmitting unit to the second calculating unit;

The second calculation unit is configured to obtain the position information of the transmitting unit according to the identity information of the transmitting unit, and calculate the movable unit based on the position information of the transmitting unit and the signal coverage of the transmitting unit The coordinate parameters of the target.
The device according to claim 6, wherein the movable target is a vehicle equipped with the receiving unit, and a plurality of the transmitting units are arranged on the road,

The device also includes a data processing unit for processing coordinate parameters and posture parameters of multiple vehicles traveling along the road.