A high-precision dynamic positioning method and system

Abstract

The present invention relates to the field of communication technology, specifically to a high-precision dynamic positioning method and system, the system includes a positioning base station, a TSN switch group and a cloud server, the TSN switch group constitutes a low-latency network; the positioning base station is used to obtain ranging data from a positioning tag, and generate ranging information based on the ranging data; it is also used to transmit ranging information through a low-latency network; the cloud server is used to solve the ranging information to generate positioning coordinates. By adopting this solution, high-precision dynamic positioning can be performed in combination with TSN technology, a low-latency network is formed through a TSN switch group, and low-latency jitter network communication between the positioning base station and the cloud server is realized through the low-latency network, thereby controlling the real-time dynamic positioning error degradation caused by network communication delay jitter to within 10 mm, effectively reducing the dynamic positioning error.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a high-precision dynamic positioning method and system. Background Art

[0002] In the prior art, high-precision positioning is achieved through ultra-wideband radio positioning technology (hereinafter referred to as UWB technology), which mainly measures the distance of the positioning tag through communication between the positioning base station and the positioning tag, and obtains the position coordinates of the positioning tag through positioning solution of the ranging information. UWB technology can achieve a positioning accuracy of 30 cm when locating personnel, but when used for real-time positioning of fast-moving objects, the positioning accuracy will be greatly reduced, deteriorating to 5 meters or even 10 meters.

[0003] The main reason for the decline in positioning accuracy is the impact of network delay. The transmission of distance measurement information and location coordinates uses Ethernet serial transmission data. For a rate of Mbit / s, the Ethernet delay may be up to hundreds of milliseconds. And this delay is not fixed, it will change with the network traffic situation, so it is difficult to compensate in real time. For fast-moving objects, taking a moving car as an example, the general driving speed is between 20 km / h and 40 km / h, that is, the moving distance per second is 5.6 meters to 11.1 meters. Therefore, when positioning a moving vehicle, its real-time dynamic positioning error will be superimposed on the moving distance of the vehicle during the network delay time on the basis of the static error of the original positioning system due to network delay jitter, resulting in a sharp deterioration of dynamic positioning accuracy. Summary of the invention

[0004] One of the purposes of the present invention is to provide a high-precision dynamic positioning system to solve the technical problem of large dynamic positioning errors in the prior art.

[0005] The present invention provides a basic solution 1: a high-precision dynamic positioning system includes a positioning base station, a TSN switch group and a cloud server, and the TSN switch group constitutes a low-latency network;

[0006] The positioning base station is used to obtain the ranging data from the positioning tag and generate ranging information based on the ranging data; it is also used to transmit the ranging information through a low-latency network;

[0007] The cloud server is used to solve the ranging information and generate positioning coordinates.

[0008] Beneficial effects of basic solution 1:

[0009] The positioning base station is set up to obtain the ranging data between the positioning tag and the positioning base station during its movement, that is, the data generated during the flight time of the positioning tag signal, and generate ranging information based on the ranging data. A low-latency network is built through the TSN interactive cluster, and a transmission network is built with TSN technology to ensure the stability of data transmission. At the same time, low-latency jitter of data transmission is achieved through TSN technology. The cloud server is set up to solve and analyze the ranging information to obtain the positioning coordinates of the positioning tag when sending the signal.

[0010] This solution is adopted in combination with TSN technology for high-precision dynamic positioning. A low-latency network is formed through a TSN switch group. The low-latency network realizes low-latency and jitter network communication between the positioning base station and the cloud server, providing ultra-low latency guarantee and controlling the network latency within 100 microseconds. The real-time dynamic positioning error degradation caused by network communication delay jitter is controlled within 10 mm, thereby effectively reducing the dynamic positioning error.

[0011] Furthermore, the low-latency network includes CUC and CNC. CUC is used to obtain transmission requirements, and CNC is used to calculate the configuration of the low-latency network and determine whether the configuration meets the transmission requirements. CNC is also used to configure the TSN switch group when the configuration meets the transmission requirements.

[0012] Beneficial effects: CUC settings are used to obtain transmission requirements. During configuration, endpoints can be configured through CUC. CNC settings are used to calculate the configuration of low-latency networks, such as transmission scheduling, to determine whether the low-latency network meets the transmission requirements. If the transmission requirements are met, the TSN switch group is configured to perform relevant control and configuration for the low-latency jitter transmission of the positioning base station and cloud server.

[0013] Furthermore, the positioning base station is also used to modify the preamble code of the ranging data, and the low-latency network transmits the corresponding ranging information according to the preamble code.

[0014] Beneficial effect: By modifying the preamble code to control the queue message of the ranging data, that is, by modifying the preamble code of the ranging data to control the transmission of the ranging information, the data message delay of the low-latency network can be guaranteed.

[0015] Furthermore, the low-latency network is used to obtain the priority of the ranging information according to the preamble code, and transmit the corresponding ranging information according to the priority.

[0016] Beneficial effect: The Ethernet frame can be divided into Express MAC (EMAC high priority frame) and Preamble MAC (PMAC low priority frame) through the preamble code. In this application, the ranging information transmitted by the positioning base station is defined as a high priority frame. The high priority frame can interrupt the low priority frame being sent, thereby reducing the waiting time of the ranging information data frame, thereby providing an ultra-low delay guarantee for the data transmission of the positioning base station.

[0017] Furthermore, the cloud server includes a positioning solution server and an application server. The positioning solution server is used to solve the ranging information to generate positioning coordinates, and the application server is used to apply the positioning coordinates.

[0018] Beneficial effects: The setting of the positioning solution server, the solution of the ranging information to generate the positioning coordinates when the positioning tag sends a signal, the setting of the application server, the application of the positioning coordinates, such as the display and statistics of the positioning coordinates, can also transmit the positioning coordinates back through the low-latency network, so that the positioning tag knows the current location and thus applies the positioning coordinates.

[0019] A second object of the present invention is to provide a high-precision dynamic positioning method.

[0020] The present invention provides basic solution 2: a high-precision dynamic positioning method, including the following contents:

[0021] Acquire the ranging data of the positioning base station and the positioning tag, generate ranging information based on the ranging data; transmit the ranging information through a low-latency network; and solve the ranging information to generate positioning coordinates.

[0022] Beneficial effects of basic solution 2:

[0023] The ranging data is the flight time of the signal when the positioning tag and the positioning base station communicate wirelessly; based on the ranging data, the ranging based on the signal flight time is completed to generate ranging information. The low-latency network builds a transmission network for TSN technology, and the low-latency jitter of data transmission is achieved through TSN technology, while ensuring the stability of data transmission. By solving and analyzing the ranging information, the positioning coordinates of the positioning tag when sending the signal are obtained.

[0024] This solution is combined with TSN technology for high-precision dynamic positioning. Low-latency jitter network communication of the positioning base station is achieved through a low-latency network, providing ultra-low latency guarantee and controlling the network latency within 100 microseconds. The real-time dynamic positioning error degradation caused by network communication delay jitter is controlled within 10 mm, effectively reducing the dynamic positioning error.

[0025] Furthermore, the following are also included:

[0026] The low-latency network includes CUC and CNC. CUC obtains transmission requirements, and CNC calculates the configuration of the low-latency network to determine whether the configuration meets the transmission requirements. When the configuration meets the transmission requirements, CNC configures the TSN switch group and builds a low-latency network based on the configured TSN switch group.

[0027] Beneficial effects: The CUC setting is used to obtain transmission requirements. During configuration, the endpoint can be configured through the CUC. The CNC setting is used to calculate the configuration of the low-latency network, such as transmission scheduling, to determine whether the low-latency network meets the transmission requirements. If the transmission requirements are met, the TSN switch group is configured to perform relevant control and configuration for the low-latency jitter transmission of the low-latency network.

[0028] Furthermore, before transmitting the ranging information, the preamble of the ranging data is modified, and the low-latency network transmits the corresponding ranging information according to the preamble.

[0029] Beneficial effect: By modifying the preamble code to control the queue message of the ranging data, that is, by modifying the preamble code of the ranging data to control the transmission of the ranging information, the data message delay of the low-latency network can be guaranteed.

[0030] Furthermore, when the low-latency network transmits ranging information, the priority of the ranging information is obtained according to the preamble code, and the corresponding ranging information is transmitted according to the priority.

[0031] Beneficial effect: In the present application, the transmitted ranging information is defined as a high priority frame by modifying the preamble code. The high priority frame can interrupt the low priority frame being sent. Therefore, the priority of the ranging information is known according to the preamble code, thereby reducing the waiting time of the ranging information data frame.

[0032] Furthermore, the following are also included:

[0033] Apply positioning coordinates; transmit positioning coordinates to positioning tags through low-latency networks.

[0034] Beneficial effects: The positioning coordinates can be applied through display, statistics, etc., and can also be transmitted back through a low-latency network to provide positioning coordinates for devices equipped with positioning tags to support the application of positioning coordinates by corresponding devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the architecture of a high-precision dynamic positioning method and system embodiment of the present invention;

[0036] Figure 2 A timing diagram of an embodiment of a high-precision dynamic positioning method and system of the present invention;

[0037] Figure 3It is a schematic diagram of the architecture of a specific example of a high-precision dynamic positioning method and system embodiment of the present invention;

[0038] Figure 4 It is a timing diagram of a specific example of a high-precision dynamic positioning method and system embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following is further described in detail through specific implementation methods:

[0040] Example

[0041] A high-precision dynamic positioning system, such as the attached Figure 1 As shown, it includes positioning tags, positioning base stations, TSN switch groups and cloud servers, and the TSN switch group constitutes a low-latency network. Specifically, the positioning tag is wirelessly connected to the positioning base station, and the positioning base stations can be cascaded through optical fibers. The TSN switch group includes several TSN switches, and the TSN switches are connected by optical cables to form an optical fiber ring network, that is, a low-latency network. The TSN switch is connected to the positioning base station and the cloud server signal respectively, and the positioning base station is connected to the TSN switch through optical fiber signals. The TSN switch connected to the cloud server is defined as the TSN core switch. The cloud server includes a positioning solution server and an application server. The positioning solution server is connected to the TSN core switch signal, and the application server is connected to the positioning solution server signal.

[0042] The cloud server and positioning base station connected to the TSN switch signal are equipped with TSN interfaces, and the cloud server and positioning base station are connected to the TSN switch signal through the TSN interface. Define the master clock, and synchronize the clocks of the TSN switch, the positioning base station connected to the TSN switch signal, and the cloud server according to the master clock.

[0043] The low-latency network includes one or more CUCs and one CNC, and the network is configured through CUC and CNC. CUC is used to obtain transmission requirements and transmit them to CNC. The transmission requirements are the stream QoS requirements of OPC UA publishers and subscribers. CNC is used to calculate the configuration of the low-latency network and determine whether the configuration meets the transmission requirements. Specifically, it calculates the transmission scheduling of the low-latency network. CNC is also used to configure the TSN switch group when the configuration meets the transmission requirements and return information to CUC. CUC is also used to configure OPC UA publishers and subscribers based on the information returned by CNC, at which time communication can begin. CNC is also used to return an error to CUC when the configuration does not meet the transmission requirements.

[0044] The positioning tag is installed on the object to be located, such as a person, vehicle, equipment, etc., and the positioning base station is installed in the area to be located. The number of positioning tags and positioning base stations is determined according to the area, shape and number of objects to be located in the positioning area. The positioning tag is used to send a signal to the positioning base station according to a preset ranging time period. In this embodiment, the ranging time period is 0.01 seconds.

[0045] The positioning base station is used to obtain the ranging data from the positioning tag and generate ranging information based on the ranging data; it is also used to transmit the ranging information through a low-latency network. Specifically:

[0046] When the positioning tag and the positioning base station transmit wireless signals, they record the sending and receiving times in the form of timestamps. Figure 2 As shown in the figure, the ranging data includes 6 moments in a ranging process, namely the moment T when the positioning tag sends polling information to the positioning base station a1 , the time when the positioning base station receives the polling information T b1 , the positioning base station is waiting for T replyB The time T at which the positioning tag sends the response information b2 , the time when the positioning tag receives the response information T a2 , the positioning tag is waiting for T replyA The time T at which the final message is sent to the positioning base station a3 , the time when the positioning base station receives the final information T b3 .

[0047] The positioning base station generates ranging information according to the following formula:

[0048]

[0049] D=C*T prop (2)

[0050] In formula (1) and (2), T prop is the flight time of the electromagnetic wave signal between the positioning tag and the positioning base station, T roundA T a2 and T a1 The difference, T roundB T b3 and T b2 The difference, T replyA T a3 and T a2 The difference, T replyB T b2 and T b1 The difference between the positioning tag and the positioning base station, C is the speed of light, and D is the distance between the positioning tag and the positioning base station, that is, the ranging information.

[0051] The positioning base station is also used to modify the preamble of the ranging data. The preamble divides the Ethernet frame into Express MAC (EMAC high priority frame) and Preamble MAC (PMAC low priority frame). The positioning base station modifies the preamble so that the data frame of the ranging information is a high priority frame. The low-latency network transmits the corresponding ranging information according to the preamble. Specifically, the low-latency network is used to obtain the priority of the ranging information according to the preamble, and transmits the corresponding ranging information according to the priority.

[0052] The cloud server is used to solve the distance measurement information to generate positioning coordinates. Specifically, the positioning solution server is used to solve the distance measurement information to generate positioning coordinates, and provide the positioning coordinates to the application server. The positioning solution server is preset with a positioning solution algorithm and a high-precision map. The positioning solution server is used to solve and analyze the distance measurement information according to the positioning solution algorithm, and generate positioning coordinates in combination with high-precision map matching. In this embodiment, the positioning solution algorithm adopts the Kalman filter algorithm, and the high-precision map matching refers to linking the vehicle positioning trajectory with the road network information in the digital map, and determining the final position relative to the map.

[0053] The application server is used to apply the positioning coordinates, for example, to display the positioning coordinates to know the position of the positioning tag, for example, to perform statistics of various types of information based on the positioning coordinates.

[0054] A high-precision dynamic positioning method, using the above-mentioned high-precision dynamic positioning system, includes the following contents:

[0055] S1: Obtain the distance measurement data of the positioning base station and the positioning tag, and generate distance measurement information based on the distance measurement data. Specifically:

[0056] The positioning tag is installed on the object to be located, and the positioning base station is installed in the area to be located. The number of positioning tags and positioning base stations is determined according to the area, shape and number of objects to be located in the positioning area. The positioning tag sends a signal to the positioning base station according to a preset ranging time period. In this embodiment, the ranging time period is 0.01 seconds.

[0057] The positioning base station obtains the ranging data. When the positioning tag and the positioning base station transmit wireless signals, they record the sending and receiving times in the form of timestamps. The ranging data includes 6 times in a ranging process, namely, the time when the positioning tag sends polling information to the positioning base station, T a1 , the time when the positioning base station receives the polling information T b1 , the positioning base station is waiting for T replyB The time T at which the positioning tag sends the response information b2 , the time when the positioning tag receives the response information T a2 , the positioning tag is waiting for T replyA The time T at which the final message is sent to the positioning base stationa3 , the time when the positioning base station receives the final information T b3 The positioning base station generates ranging information according to formulas (1) and (2).

[0058] S2: Transmit ranging information through a low-latency network. Specifically:

[0059] The low-latency network includes one or more CUCs and one CNC, and the network is configured through the CUC and CNC.

[0060] CUC is used to obtain transmission requirements and transmit them to CNC. The transmission requirements are the stream QoS requirements of OPC UA publishers and subscribers. CNC is used to calculate the configuration of the low-latency network and determine whether the configuration meets the transmission requirements. Specifically, it calculates the transmission scheduling of the low-latency network. CNC is also used to configure the TSN switch group when the configuration meets the transmission requirements and return information to CUC. CUC is also used to configure OPC UA publishers and subscribers based on the information returned by CNC, at which time communication can begin. CNC is also used to return an error to CUC when the configuration does not meet the transmission requirements.

[0061] Build a low-latency network based on the configured TSN switch group. Define the master clock to synchronize the TSN switch group and the clocks of the devices connected to the TSN switch group signal.

[0062] Before transmitting the ranging information, modify the preamble of the ranging data, and the low-latency network transmits the corresponding ranging information according to the preamble. The preamble divides the Ethernet frame into Express MAC (EMAC high priority frame) and Preamble MAC (PMAC low priority frame). The positioning base station modifies the preamble so that the data frame of the ranging information is a high priority frame, and the low-latency network transmits the corresponding ranging information according to the preamble. Specifically, when the low-latency network transmits the ranging information, the low-latency network obtains the priority of the ranging information according to the preamble, and transmits the corresponding ranging information according to the priority.

[0063] S3: Calculate the distance measurement information to generate positioning coordinates. A positioning calculation algorithm and a high-precision map are preset. The distance measurement information is calculated and analyzed according to the positioning calculation algorithm, and the positioning coordinates are generated in combination with high-precision map matching. In this embodiment, the positioning calculation algorithm adopts the Kalman filter algorithm, and the high-precision map matching refers to linking the vehicle positioning trajectory with the road network information in the digital map, and determining the final position relative to the map.

[0064] S4: Apply the positioning coordinates, such as displaying the positioning coordinates to know the location of the positioning tag, such as performing statistics of various types of information based on the positioning coordinates, etc. The positioning coordinates are transmitted to the positioning tag through a low-latency network.

[0065] In this embodiment, when configuring the network, the OPC UA compatible configuration protocol is used, the User / Network configuration interface protocol is used between CUC and CNC, and CNC uses the network management protocol to configure the relevant switch management objects. In the low-latency network, the IEEE 802.1AS precise time synchronization protocol, IEEE 802.1Qbr Time Aware time-aware shaping protocol, and IEEE 802.1Qbr&IEEE 802.3bu frame preemption protocol are used. Through the above protocols, the network delay is controlled within 100 microseconds.

[0066] As attached Figure 3 As shown in the figure, taking the positioning of vehicles traveling underground as an example, vehicle positioning tags are installed on vehicles traveling underground, UWB positioning base stations are deployed in the underground transportation lanes, and the application server is the vehicle monitoring server. The dynamic error caused by network delay is mainly concentrated in the data transmission between the UWB positioning base station and the cloud server, so it is calculated when the UWB positioning base station sends the ranging information.

[0067] As attached Figure 4 As shown, the time T1 when the UWB positioning base station sends the ranging information to the cloud server is recorded, the time T2 when the positioning solution server receives the ranging information is recorded, the time T3 when the positioning solution server sends the positioning coordinates to the UWB positioning base station is recorded, the time T4 when the UWB positioning base station receives the positioning coordinates and sends them to the vehicle positioning tag is recorded, and the time T5 when the vehicle positioning tag receives the positioning coordinates is recorded. The time T required from the UWB positioning base station sending the ranging information to the cloud server to the vehicle positioning tag receiving the positioning coordinates is calculated according to the following formula drive :

[0068] T drive =T tsn1 +T process +T tsn2 +T prop (3)

[0069] In formula (3), T tsn1 is the difference between T2 and T1, T process is the data processing time of the positioning solution server, which is the difference between T3 and T2. tsn2 is the difference between T4 and T3, T prop It is the flight time of the electromagnetic wave signal between the positioning base station and the positioning tag, and its value is the difference between T5 and T4.

[0070] When the vehicle speed is V, the increase in the dynamic positioning error caused by the vehicle's driving compared to the static positioning error is:

[0071] Error=V*T drive

[0072] Among them, T process and T prop are all in microseconds, while T tsn1 and T tsn2 are less than 100 microseconds, making T drive It is much less than 1 millisecond. When the vehicle speed V is 10 meters per second, the value of Error is much less than 10 millimeters. The static positioning error of the UWB positioning system is generally 10-30 centimeters. The increase in dynamic positioning error using this solution is less than 10% of the static positioning error, effectively reducing the dynamic positioning error.

[0073] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A high-precision dynamic positioning system, comprising a positioning base station, a TSN switch group and a cloud server, characterized in that: TSN switch groups form a low-latency network; The positioning base station is used to obtain the ranging data from the positioning tag and generate ranging information based on the ranging data; it is also used to transmit the ranging information through a low-latency network; The positioning base station is also used to modify the preamble code of the ranging data, and the low-latency network transmits the corresponding ranging information according to the preamble code; The cloud server is used to solve the ranging information and generate positioning coordinates.

2. A high-precision dynamic positioning system according to claim 1, characterized in that: The low-latency network includes CUC and CNC. CUC is used to obtain transmission requirements, and CNC is used to calculate the configuration of the low-latency network and determine whether the configuration meets the transmission requirements. CNC is also used to configure the TSN switch group when the configuration meets the transmission requirements.

3. A high-precision dynamic positioning system according to claim 1, characterized in that: The low-latency network is used to obtain the priority of the ranging information according to the preamble code and transmit the corresponding ranging information according to the priority.

4. A high-precision dynamic positioning system according to claim 1, characterized in that: The cloud server includes a positioning solution server and an application server. The positioning solution server is used to solve the ranging information to generate positioning coordinates, and the application server is used to apply the positioning coordinates.

5. A high-precision dynamic positioning method, characterized in that: Includes the following: Obtain ranging data from the positioning base station and the positioning tag, and generate ranging information based on the ranging data; modify the preamble of the ranging data, and the low-latency network transmits the corresponding ranging information based on the preamble; transmit the ranging information through the low-latency network; and solve the ranging information to generate positioning coordinates.

6. A high-precision dynamic positioning method according to claim 5, characterized in that: Also included are the following: The low-latency network includes CUC and CNC. CUC obtains transmission requirements, and CNC calculates the configuration of the low-latency network to determine whether the configuration meets the transmission requirements. When the configuration meets the transmission requirements, CNC configures the TSN switch group and builds a low-latency network based on the configured TSN switch group.

7. A high-precision dynamic positioning method according to claim 5, characterized in that: When the low-latency network transmits ranging information, the priority of the ranging information is obtained according to the preamble code, and the corresponding ranging information is transmitted according to the priority.

8. A high-precision dynamic positioning method according to claim 5, characterized in that: Also included are the following: Apply positioning coordinates; transmit positioning coordinates to positioning tags through low-latency networks.

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