Unmanned surface vehicle ship-borne speed measurement and direction measurement method based on UWB (Ultra-wide Bandwidth) indoor positioning

An indoor positioning and unmanned boat technology, which is applied in radio wave measurement systems, satellite radio beacon positioning systems, measurement devices, etc. question

Active Publication Date: 2019-01-11
HARBIN ENG UNIV
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Problems solved by technology

However, this method is an indirect speed and direction measurement method designed for the tail shaft of the ship, ignoring the influence of changes in the environment, load, draft, etc. of the ship, and the result cannot represent the actual speed and heading of the ship, so it is also unable to meet the needs of unmanned boats. The need for voluntary motor control

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  • Unmanned surface vehicle ship-borne speed measurement and direction measurement method based on UWB (Ultra-wide Bandwidth) indoor positioning
  • Unmanned surface vehicle ship-borne speed measurement and direction measurement method based on UWB (Ultra-wide Bandwidth) indoor positioning
  • Unmanned surface vehicle ship-borne speed measurement and direction measurement method based on UWB (Ultra-wide Bandwidth) indoor positioning

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Embodiment Construction

[0049] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0050] The invention proposes a UWB-based indoor positioning method and system for unmanned ship-borne speed measurement and direction measurement. The main steps of the method include: (1) Obtain the position information pos(xi,yi) of the UWB positioning tag by the UWB indoor positioning device and perform threshold filtering and Kalman filtering; (2) Use the velocity calculation algorithm F_outvel(i ) to calculate the speed outvel, if successful, execute step (3), otherwise return to step (1); (3) make the speed prevel equal to the current speed outvel at the previous moment; (4) use the heading determination algorithm F_faigate(n, i) , to determine whether the heading judgment flag Flag_fai is equal to 1, if yes, execute step (5), otherwise return to step (1); (5) according to the number n of positioning tags on the unmanned boat and the curren...

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Abstract

The invention provides an unmanned surface vehicle ship-borne speed measurement and direction measurement method based on UWB (Ultra-wide Bandwidth) indoor positioning and belongs to the technical field of acquisition of indoor positioning information of unmanned surface vehicles. The method sufficiently considers transmission properties of positioning data based on a UWB indoor positioning device, and threshold processing and primary filtering of a Kalman filter are carried out; stable speed output is obtained by utilizing a speed resolving algorithm F_outvel (i); a heading judging algorithmF_faigate (n.i) and a heading resolving algorithm F_outfai (i) are designed respectively by utilizing a coupling relation of a plurality of positioning labels and self geometrical features of the unmanned surface vehicle, so as to obtain real-time heading output; after the real-time heading output is resolved through an upper computer, a resolving result is sent to a target unmanned surface vehicle through a serial port via radio in real time; and the resolving result is received through a corresponding radio communication module on the unmanned surface vehicle to form information interaction.A speed measurement and direction measurement system designed by the invention meets the requirements of a movement control point of the unmanned surface vehicle, and stable, low-cost and real-time requirements; and indoor positioning, speed, heading multi-element information of the unmanned surface vehicle is acquired.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning information acquisition of surface unmanned boats, and in particular relates to a method for measuring speed and direction of unmanned boats based on UWB indoor positioning. Background technique [0002] In order to achieve effective motion control for the unmanned vehicle, it must be able to obtain the real-time feedback of the control object, that is, the speed and heading of the unmanned vehicle, so that the control algorithm can achieve a closed loop and effectively perform motion control. [0003] Outdoors, GPS and magnetic compass can often be used to obtain such information. However, in indoor pools, ditches and other sheltered spaces, GPS cannot or is difficult to receive stable signals. The magnetic compass is seriously affected by the local magnetic field in the building. Its direction finding The data is prone to sudden changes, and it is difficult to be used for the heading ...

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Application Information

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IPC IPC(8): G01C21/20G01S19/52
CPCG01C21/206G01S19/52
Inventor 贾知浩廖煜雷李晔贾琪陈启贤张伟苏玉民沈海龙武皓微
Owner HARBIN ENG UNIV
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