Suspension type track car positioning method capable of correcting GPS and inertial navigation system by using UWB sensor as track beacon

An inertial navigation system and GPS positioning technology, which is applied in the positioning field of suspended rail vehicles, can solve the problems that the high-precision positioning and safe driving of the vehicle cannot be fully guaranteed, the GPS positioning accuracy decreases, and the positioning accuracy decreases, so as to eliminate the cumulative positioning error , improve positioning accuracy, and enhance the effect of anti-interference

Inactive Publication Date: 2018-05-29
江苏添仂智能科技有限公司
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AI Technical Summary

Problems solved by technology

[0003] Traditional positioning GPS (Global Positioning System) technology, when indoors or covered by buildings, satellite signals are blocked or attenuated, resulting in a sharp drop in GPS positioning accuracy
There are defects in a single positioning technology, which cannot fully guarantee the high-precision positioning and safe driving of the vehicle, which requires the use of multiple positioning methods to ensure the reliability of vehicle operation
The inertial navigation system uses the data of inertial sensors (acceleration sensors, gyroscopes, magnetometers) to obtain the motion characteristics of the vehicle and calculate the position information of the vehicle. However, due to the random drift error and noise error of the inertial sensor, it will produce Cumulative errors lead to a decrease in positioning accuracy, which can be combined with the UWB wireless positioning system to correct the cumulative errors of the inertial navigation system

Method used

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  • Suspension type track car positioning method capable of correcting GPS and inertial navigation system by using UWB sensor as track beacon

Examples

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Embodiment Construction

[0022] Such as figure 1 As shown, a method for positioning a suspended rail vehicle based on UWB sensors as a track beacon for GPS and inertial navigation system corrections includes the following steps:

[0023] (1) GPS positioning system, inertial navigation system and UWB positioning system are installed on the rail car, and the GPS positioning system, inertial navigation system and UWB positioning system are all connected to the vehicle controller; the vehicle positioning information is transmitted to the vehicle controller, and the vehicle control The controller obtains the positioning information of the preceding vehicle through the wireless communication device, and realizes distance measurement and automatic driving between track workshops through the positioning information of the own vehicle and the positioning information of the preceding vehicle;

[0024] (2) The vehicle-mounted GPS positioning system and the base station constitute DGPS, which can obtain sub-meter...

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Abstract

The invention discloses a suspension type track car positioning method capable of correcting a GPS and an inertial navigation system by using a UWB sensor as a track beacon. A GPS positioning system,an inertial navigation system, and a UWB positioning system are installed on a track and the GPS positioning system, the inertial navigation system and the UWB positioning system are connected to a vehicle-mounted controller; after the vehicle-mounted controller obtains UWB positioning information, initial position information of the inertial navigation system is updated; when a GPS signal is invalid, the UWB positioning information and the positioning information of the inertial navigation system are weighted to obtain an accurate positioning result; and when the GPS signal is valid, the vehicle-mounted controller operates a particle filter algorithm and a particle filter carries out multi-sensor data fusion on the UWB positioning information, the GPS positioning information, and the positioning information of the inertial navigation system. According to the invention, on the basis of combination of the UWB technology with the GPS technology and the inertial navigation technology, defects of the single positioning technology are overcome; accurate positioning of the track car is realized; and high safety and reliability of full-course automatic driving of the track car are ensured.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a positioning method for a suspended rail vehicle corrected by a GPS and an inertial navigation system based on a UWB sensor as a rail beacon. Background technique [0002] The suspended rail car is a new type of light, medium-speed, and medium-capacity transportation. It has the characteristics of economy, safety, convenience, and full automation. It has broad application prospects in passenger transportation. The suspended rail car is fully unmanned during operation, requiring the vehicle to have functions such as autonomous obstacle avoidance and navigation. Among them, precise positioning technology is an important guarantee for the safe and automatic driving of the vehicle. [0003] With traditional positioning GPS (Global Positioning System) technology, when indoors or covered by buildings, satellite signals are blocked or attenuated, resulting in a sharp drop in ...

Claims

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Application Information

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IPC IPC(8): G01S13/06G01S13/86G01S13/93G01S19/01G01C21/16
CPCG01S13/06G01C21/165G01S13/86G01S13/931G01S19/01
Inventor莫凌飞李晨阳高正
Owner江苏添仂智能科技有限公司