Precise positioning and ranging method for suspended track unmanned vehicle based on UWB and DGPS technologies

An unmanned vehicle and GPS positioning technology, applied in the field of precise positioning and ranging of suspended track unmanned vehicles, can solve the problems of single, unable to locate, unable to complete positioning, etc., and achieve the effect of enhancing anti-interference.

Inactive Publication Date: 2018-01-16
江苏添仂智能科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

When the unmanned vehicle is indoors or covered by buildings, the traditional GPS positioning will not be able to complete the positi...

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  • Precise positioning and ranging method for suspended track unmanned vehicle based on UWB and DGPS technologies

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Embodiment Construction

[0016] Such as figure 1 As shown, a method for precise positioning and ranging of a suspended track unmanned vehicle based on UWB and DGPS technology includes the following steps:

[0017] (1) Install the DGPS system and the UWB positioning and ranging system on the unmanned vehicle. Both the DGPS system and the UWB positioning and ranging system are connected to the vehicle control system. The vehicle control system performs vehicle positioning and measurement through the DGPS system and the UWB positioning and ranging system. Distance and unmanned driving;

[0018] (2) The vehicle-mounted GPS and the base station constitute DGPS, which can obtain sub-meter positioning accuracy under the condition of satellite signals. The GPS positioning information is sent to the UWB through the vehicle-mounted controller, and the UWB communicates with each other between two vehicles on the same track. The on-board controller calculates the distance between the vehicles according to the GP...

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Abstract

The invention provides a precise positioning and ranging method for a suspended track unmanned vehicle based on UWB and DGPS technologies. The precise positioning and ranging method comprises the steps that: a DGPS and a UWB positioning and ranging system are installed on the unmanned vehicle; both the DGPS and the UWB positioning and ranging system are connected with a vehicular control system; the vehicular control system performs positioning, ranging and unmanned driving of the vehicle through the DGPS and the UWB positioning and ranging system; a vehicular GPS and a base station form the DGPS; UWB sensors of front and rear vehicles on the same track form the UWB positioning and ranging system; mutual electromagnetic pulse signals are sent; the distance between the front and rear vehicles is obtained through a TOF algorithm; and, as the supplement of the DGPS, when the GPS does not have a satellite signal, the unmanned driving security of the vehicle is ensured through the wirelessranging of the UWB between the vehicles. According to the precise positioning and ranging method provided by the invention, the UWB and DGPS positioning technologies are applied to control of the suspended unmanned vehicle at the first time; the disadvantage that the GPS cannot complete positioning in some cases can be made up by the UWB technology; and thus, the positioning and ranging precisionis up to the centimetre level.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a method for precise positioning and ranging of unmanned vehicles on suspended tracks based on UWB and DGPS technologies. Background technique [0002] Unmanned vehicles can reach the designated destination autonomously and safely without human intervention. Among them, obstacle avoidance, positioning and navigation are the core issues of unmanned vehicle research. After effectively controlling the movement of unmanned vehicles, the positioning of unmanned vehicles has become the first problem to be solved in navigation control. When the unmanned vehicle is indoors or covered by buildings, the traditional GPS positioning will not be able to complete the positioning due to the lack of satellite signals. A single positioning technology will easily lead to poor positioning accuracy or no positioning. Contents of the invention [0003] The technical problem to be solved ...

Claims

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Application Information

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IPC IPC(8): H04W4/46B60R16/023G01S5/00G01S7/481G01S17/42G01S17/93G01S19/41
Inventor 莫凌飞万玲高正陈春
Owner 江苏添仂智能科技有限公司
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