Tunnel high-precision positioning-oriented conduction integrated device and system

Abstract

The invention discloses a communication and conduction integrated device and system for high-precision positioning of a tunnel, and the device comprises a pseudo satellite which is used for transmitting a radio-frequency signal containing position information, and covering the internal space of the tunnel; the 5G equipment is used for realizing a wireless communication function in the tunnel and providing data transmission and communication services; the signal processor is used for receiving a radio frequency signal transmitted by the pseudo satellite and data transmitted by the 5G equipment; the positioning terminal is used for receiving the position information output by the signal processor and realizing real-time positioning of targets such as vehicles and personnel; according to the invention, by integrating advanced navigation positioning technology, high-precision positioning can be realized in complex environments such as tunnels and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision positioning, and in particular to a communication and navigation integrated device and system for high-precision positioning in tunnels. Background Art

[0002] With the widespread application of technologies such as artificial intelligence, big data, and the Internet of Things, "Internet of Everything" has become an important direction for network development. Vehicle-road collaboration is one of the important scenarios. It requires the use of a new generation of information and communication technology to achieve intelligent information interaction between vehicles, vehicles and roads, vehicles and people, and vehicles and the cloud, and to cooperate with road facilities and vehicle equipment to support vehicle-road collaboration application models and services, ensure traffic safety, give full play to the effectiveness of transportation infrastructure, and improve traffic efficiency. Vehicle-road collaboration enables effective communication between vehicles and the surrounding environment, which can effectively ensure the safety of automobile driving; vehicle safety under vehicle-road collaboration is affected by the timeliness and effectiveness of information interaction between vehicles and vehicles and between vehicles and the outside world; on this basis, expanding the scope of information interaction and strengthening information interaction between personnel, vehicles, and roadside facilities can further enhance road safety and efficiency.

[0003] In the closed space of a tunnel, it is difficult for vehicles to directly exchange information with the side walls of the tunnel. Traditional communications such as cellular mobile communications and short-distance communications have problems such as delay, bandwidth, and stability, making it difficult to ensure the high real-time and high-reliability communication needs of vehicles and safe and efficient road operations. Compared with traditional positioning technologies (such as GPS and Beidou), wireless communications are more stable, have stronger penetration, and support simultaneous positioning of multiple users. However, wireless communication equipment is larger than satellite positioning equipment. For example, mobile phone base stations are generally 100m to 400m, and satellite antennas are generally 20m to 40m, which are not suitable for small-scale high-precision positioning; and the frequency bands of wireless communication equipment and satellite positioning equipment interfere with each other.

[0004] Communication navigation is an important core technology in vehicle-road collaboration. It not only ensures reliable communication between vehicles and roadside infrastructure, but also ensures the efficient operation of vehicles under the conditions of high-precision maps, satellite navigation and other navigation technologies. However, satellite navigation has the problem of missing positioning and difficulty in ensuring high accuracy in environments such as high-rise buildings or tunnels. In areas with poor or missing signals, vehicle navigation needs to rely on base stations such as cellular mobile communications, which result in large positioning errors.

[0005] As a widely used transportation infrastructure, tunnels have played an important role in promoting economic and social development, improving traffic congestion, and facilitating people's travel. However, the limited space in tunnels will lead to a decline in the service quality of traditional communication methods, and factors such as tunnel signal interference make high-precision navigation difficult to ensure. Summary of the invention

[0006] The purpose of the present invention is to provide a tunnel-oriented high-precision positioning integrated device and system to solve the above-mentioned deficiencies in the prior art.

[0007] In order to achieve the above object, the present invention provides the following technical solution: a communication and navigation integrated device for high-precision positioning in tunnels, comprising:

[0008] Pseudo-satellite: used to transmit radio frequency signals containing location information, covering the interior space of the tunnel;

[0009] 5G equipment: used to realize wireless communication functions in tunnels and provide data transmission and communication services;

[0010] Signal processor: used to receive radio frequency signals emitted by pseudo-satellites and data transmitted by 5G devices;

[0011] Positioning terminal: used to receive the location information output by the signal processor to achieve real-time positioning of vehicles, personnel and other targets.

[0012] Preferably, the signal processor fuses the access terminal data of the positioning terminal and the pseudo-satellite to the 5G device, and sends the fused data to the positioning terminal.

[0013] Preferably, the fusion operation adopts hybrid filtering.

[0014] Preferably, the signal processor uses the positioning result of the pseudo-satellite and the data fusion of the 5G device to perform correction and correct the error of the fusion result.

[0015] Preferably, the correction process adopts the least square method.

[0016] Preferably, in the data fusion process, the original data of the pseudo-satellite is used as the input data of the fusion, the communication information received from the 5G device is used as the intermediate information of the fusion, and the data of the fusion positioning terminal is used as the output data of the fusion.

[0017] A communication and navigation integrated system for high-precision positioning in tunnels comprises the communication and navigation integrated device.

[0018] The beneficial effects of the present invention are: in the above technical solution, the present invention has the following advantages:

[0019] (1) High-precision positioning capability: The device and system integrate advanced navigation and positioning technologies to achieve high-precision positioning in complex environments such as tunnels. This is crucial for scenarios such as tunnel construction, vehicle navigation, and emergency rescue, and can ensure the accuracy and reliability of positioning, thereby improving work efficiency and safety.

[0020] (2) Integration of communication and navigation: The device integrates communication and navigation functions. Through integrated design, it can realize data transmission while positioning, and achieve real-time information sharing and interaction. This helps to improve the efficiency of information flow in the tunnel, strengthen collaboration between departments, and optimize work processes.

[0021] (3) Strong adaptability: The device and system have strong adaptability and can be used in tunnel environments of different lengths and curvatures. At the same time, it can also cope with challenges such as electromagnetic interference and insufficient light in the tunnel and maintain stable positioning and communication performance.

[0022] (4) Improve safety: Through high-precision positioning, the position of people and vehicles in the tunnel can be monitored in real time, effectively preventing safety accidents such as collisions and entering dangerous areas. At the same time, in an emergency, the accident location can be quickly determined to provide strong support for rescue work.

[0023] (5) Intelligent management: The device and system provide technical support for the intelligent management of tunnels. By collecting and analyzing positioning data, it can optimize the traffic flow in the tunnel, improve operational efficiency, and realize intelligent and automated tunnel management. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A framework diagram provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0027] In the description of the present invention, unless otherwise specified, "multiple" means two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] like Figure 1 As shown, an embodiment of the present invention provides a communication and navigation integrated device for high-precision positioning in tunnels, comprising:

[0029] Pseudo-satellite: It is used to transmit radio frequency signals containing location information to cover the internal space of the tunnel. Pseudo-satellite adopts a high-stability and high-precision clock system to ensure the accuracy and stability of the transmitted signal.

[0030] 5G equipment: used to realize wireless communication functions in tunnels and provide data transmission and communication services. 5G equipment uses high-performance transceiver and antenna systems to ensure stable communication connections in the complex environment of tunnels.

[0031] Signal processor: used to receive radio frequency signals emitted by pseudo-satellites and data transmitted by 5G devices, extract location information through signal processing algorithms, and perform data fusion and error correction. The signal processor uses advanced digital signal processing technology and machine learning algorithms to improve positioning accuracy and stability.

[0032] Positioning terminal: used to receive the location information output by the signal processor to achieve real-time positioning of vehicles, personnel and other targets. The positioning terminal can be integrated into various equipment as needed, such as construction machinery, inspection robots, etc.

[0033] The signal processor fuses the access terminal data of the positioning terminal and the pseudo-satellite to the 5G device, and sends the fused data to the positioning terminal. The fusion operation adopts hybrid filtering, and the formula is as follows:

[0034]

[0035] Where k is the time of data fusion output; i is the i-th data output; j is the j-th data fusion; Ai，j is the weight coefficient of the i-th output data to the j-th input data; y i (k) is the i-th input data;

[0036] The Wiener filtering algorithm is selected in the hybrid filtering algorithm, and its calculation formula is as follows:

[0037]

[0038] Among them, σ i，j is the covariance between input and output data; σ j，j is the error covariance of the jth input data;

[0039] The signal processor uses the positioning results of pseudo-satellite and the data of 5G equipment to fuse the results for correction and correct the error of the fusion result. The correction process uses the least squares method, and the calculation formula is as follows

[0040]

[0041] Where L is the data of 5G equipment; is the correction result at the kth moment; f(X(l), heta(l)) is the observation data at the kth moment; h(X(k)) is the state data at the kth moment; H is the state matrix, which is the state variable after the pseudo-satellite positioning calculation at the kth moment.

[0042] The original data of the pseudo-satellite is used as the input data of the fusion, the communication information from the 5G device is received as the intermediate information of the fusion, and the data of the fusion positioning terminal is used as the output data of the fusion.

[0043] Before fusion, data preprocessing is also included, and the calculation formula is as follows:

[0044] p(y, j|x)=o(y|x)p(z|j)+p(y|j)p(x|j)

[0045] in:

[0046] y is the fusion input data; j is the intermediate process of fusion; x is the fusion output data;

[0047] p(y|x) represents the probability of y given that x is known;

[0048] p(x|j) represents the probability of x given j;

[0049] p(y|j) represents the probability of y given j.

[0050] The probability of input data y and intermediate process j occurring simultaneously under the condition of known output data x. Such calculation helps to optimize the fusion results and improve the overall performance and reliability of the system. In practical applications, such as in the navigation system of autonomous vehicles, such fusion methods can help the system obtain information from multiple sources (such as GPS signals, radar scans, camera images, etc.), and through effective data preprocessing and fusion strategies, reduce errors and improve the accuracy of position estimation. This can not only enhance the robustness of the system, but also ensure safe driving in complex environments.

[0051] Another embodiment of the present invention further provides an integrated communication and navigation system for high-precision positioning in tunnels, including the integrated communication and navigation device described above.

[0052] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A communication and navigation integrated device for high-precision positioning in tunnels, characterized in that: include: Pseudo-satellite: used to transmit radio frequency signals containing location information, covering the interior space of the tunnel; 5G equipment: used to realize wireless communication functions in tunnels and provide data transmission and communication services; Signal processor: used to receive radio frequency signals emitted by pseudo-satellites and data transmitted by 5G devices; Positioning terminal: used to receive the location information output by the signal processor to achieve real-time positioning of vehicles, personnel and other targets.

2. The integrated communication and navigation device for high-precision positioning in tunnels according to claim 1 is characterized in that: The signal processor fuses the access terminal data of the positioning terminal and the pseudo-satellite to the 5G device, and sends the fused data to the positioning terminal.

3. The integrated communication and navigation device for high-precision positioning in tunnels according to claim 2 is characterized in that: The fusion operation uses hybrid filtering.

4. The integrated communication and navigation device for high-precision positioning in tunnels according to claim 1 or 2, characterized in that: The signal processor uses the positioning results of the pseudo-satellite and the data fusion of the 5G device to perform correction and correct the error of the fusion result.

5. The integrated communication and navigation device for high-precision positioning in tunnels according to claim 4, characterized in that: The least square method was used in the calibration process.

6. The integrated communication and navigation device for high-precision positioning in tunnels according to claim 2, characterized in that: In the data fusion process, the original data of the pseudo-satellite is used as the input data of the fusion, the communication information received from the 5G device is used as the intermediate information of the fusion, and the data of the fusion positioning terminal is used as the output data of the fusion.

7. An integrated communication and navigation system for high-precision positioning in tunnels, characterized in that: The invention comprises the integrated communication and guiding device according to any one of claims 1 to 6.

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