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Intelligent taxi calling navigation positioning method based on UWB positioning

A navigation and positioning, intelligent technology, applied in the field of positioning, can solve problems such as constant error, error, and lower positioning reliability

Active Publication Date: 2020-11-17
NANJING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, UWB also has clock drift errors, non-line-of-sight (NLOS) errors, constant errors caused by temperature and air pressure environments, etc., which seriously affect the positioning accuracy.
Moreover, in the smart car application scenario, there is relatively strong metal interference, forming a typical NLOS environment, resulting in a substantial increase in ranging errors
The above errors will make the traditional positioning algorithm trilateration unable to intersect at one point, reducing the reliability of positioning

Method used

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  • Intelligent taxi calling navigation positioning method based on UWB positioning
  • Intelligent taxi calling navigation positioning method based on UWB positioning
  • Intelligent taxi calling navigation positioning method based on UWB positioning

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Embodiment Construction

[0055] The present invention is described in further detail now in conjunction with accompanying drawing.

[0056] It should be noted that terms such as "upper", "lower", "left", "right", "front", and "rear" quoted in the invention are only for clarity of description, not for Limiting the practicable scope of the present invention, and the change or adjustment of the relative relationship shall also be regarded as the practicable scope of the present invention without substantive changes in the technical content.

[0057] as attached Figure 1-2 As shown, the present invention discloses a UWB-based smart car navigation and positioning method, comprising the following steps:

[0058] S1. Set up two UWB positioning base stations A on the vehicle body 0 , A 1 , A 2 , M is the tag held by the car owner, and three base stations A are measured respectively 0 , A 1 , A 2 The distance from label M is d 0 , d 1 , d 2 .

[0059] S2, with base station A 1 , A 2 The midpoint ...

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Abstract

The invention discloses an intelligent taxi calling navigation positioning method based on UWB positioning. The method comprises the following steps: acquiring distances between three base stations and a label; establishing a space rectangular coordinate system; solving the coordinates of the label by using an improved trilateral measurement method; analyzing kurtosis; if the NLOS error exists, predicting a state equation by using an unscented Kalman filter algorithm, introducing an adaptive factor to correct a gain matrix, and outputting a predicted optimal value; and if the NLOS error does not exist, outputting the predicted optimal value by utilizing a standard unscented Kalman filter algorithm. According to the method, a UWB positioning model is constructed, weighted optimization is carried out on atrilateral measurement method, the influence of the multipath effect on positioning is effectively suppressed, and the positioning reliability is improved. A UWB channel environment is judged through kurtosis calculation, optimization of the positioning result and correction of the NLOS error are effectively realized, and the UWB positioning precision is improved.

Description

technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to a UWB positioning-based intelligent car-hailing navigation positioning method. Background technique [0002] With the rise of artificial intelligence and the continuous development of vehicle technology, the research and application of smart vehicles has increasingly become a hot spot for research by various countries. The various functions developed in it, such as automatic parking, obstacle avoidance warning, etc., greatly facilitate people's travel and improve the safety factor. To realize the above functions, the key is to enable the vehicle to obtain information such as its own position in an unstructured environment. As an emerging high-precision positioning technology, UWB positioning (ultra-wideband positioning) has become the best physical layer technology for indoor positioning applications due to its advantages such as accurate positioning, short worki...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/40G01S5/08
CPCH04W4/023H04W4/40G01S5/08
Inventor 臧利国沈业辉唐一鸣贾鹏李瑶薇施佳
Owner NANJING INST OF TECH