A vehicle positioning device and method suitable for multi-track straight lanes

Abstract

The present invention relates to a device and method for locating vehicles in multi-track straight lanes, and relates to the field of rail vehicle positioning. First, an ultrasonic module and a horizontal gyroscope are used to obtain the straight-line distance from the locomotive to the lane wall, and then a pair of ultra-wideband UWB positioning tags are used to obtain the distance difference. The position coordinates of the locomotive can be obtained by algebraically solving the single curve equation, and the positioning result is sent to the main control terminal using the 5G mobile communication network. The present invention has a simple structure and is easy to operate. The above-mentioned device in the present invention can be used to realize the positioning of multiple locomotives.

Description

Technical Field

[0001] The invention relates to the field of vehicle positioning, and in particular to a vehicle positioning device and method suitable for multi-track straight lanes. Background Art

[0002] In order to strengthen the construction of smart mines, the research and development of rail vehicle related technologies has become a hot topic in recent years, among which the positioning of rail vehicles is an important part. In real situations, due to the obstruction of rock and soil layers, GPS signals cannot be received in the tunnel, which brings challenges to the positioning of rail vehicles. Bluetooth, ZigBee and ultrasonic technologies can all achieve simple positioning and tracking, but the measurable range is narrow and not suitable for application alone in the tunnel. Multi-band radar has a wide measurable range and high accuracy, which can solve the problem of tunnel positioning and tracking, but it has high power consumption and high cost. In recent years, with the development of communication technology, UWB technology has become more and more mature, with a simple structure, easy installation and maintenance, and the advantages of low cost and low power consumption. However, UWB positioning generally requires the installation of multiple positioning base stations on the tunnel wall, which is not only costly, but also too many positioning base stations will bring instability to other equipment in the tunnel. The patent "An unmanned driving system for mining electric locomotives based on UWB technology" (application number: 202110250724.1) invented an unmanned driving system that integrates multiple sensor modules, but it only uses ultrasonic ranging for obstacle avoidance in the positioning part, and does not make full use of this information. In addition, it installs multiple sensors around the vehicle, which increases the difficulty of installation. Summary of the invention

[0003] The purpose of the present invention is to provide a vehicle positioning device and method suitable for multi-track straight lanes to improve positioning accuracy and realize positioning of multiple locomotives.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A vehicle positioning device applicable to a multi-track straight lane, the positioning device comprising:

[0006] The positioning base station is installed on the top of one side of the tunnel and is used to send signals out periodically;

[0007] A positioning tag, used to receive a signal sent by the positioning base station;

[0008] Ultrasonic module, used to measure the distance from the locomotive to the side wall of the roadway;

[0009] A horizontal gyroscope, used to measure the horizontal deflection angle;

[0010] The processor is connected with the positioning tag, the ultrasonic module, the positioning base station and the horizontal gyroscope, and is used to calculate the coordinates of the vehicle.

[0011] Optionally, the positioning device further includes:

[0012] shell;

[0013] The positioning tag and the ultrasonic module are arranged on the housing.

[0014] Optionally, the positioning base station includes:

[0015] A first antenna, a first antenna transceiver module, and a first high-precision clock.

[0016] Optionally, the positioning tag includes: a second antenna, a third antenna, a second antenna transceiver module, a third antenna transceiver module, a second high-precision clock, and a third high-precision clock;

[0017] The second antenna and the third antenna are respectively arranged at two ends of the housing.

[0018] Optionally, the ultrasonic module includes: an ultrasonic transmitter and an ultrasonic receiver.

[0019] Based on the above device in the present invention, the present invention further provides a vehicle positioning method applicable to a multi-track straight lane, the positioning method comprising:

[0020] Measure the coordinates of the positioning base station, denoted as (x s ,y s );

[0021] Place the housing on the top of the locomotive and keep it level with the locomotive, and set the initial direction of the horizontal gyroscope to be parallel and in the same direction as the x-axis;

[0022] The deflection angle θ of the housing is measured by a horizontal gyroscope;

[0023] The distance D from the shell to the tunnel wall is measured by an ultrasonic module;

[0024] The processor obtains the second high-precision clock timestamp t attached to the second antenna at time t1 a ;

[0025] The processor obtains the third high-precision clock timestamp t attached to the third antenna at time t2. b ;

[0026] Based on the timestamp t of the second antenna a and the timestamp t of the third antenna b Determine the relative time difference to solve the problem of the clocks used by the second antenna and the third antenna being out of sync;

[0027] The second antenna receives the signal of the positioning base station and records the second high-precision clock timestamp TA;

[0028] The third antenna receives the signal of the positioning base station and records the third high-precision clock timestamp TB;

[0029] measuring a distance L between the second antenna and the third antenna;

[0030] Calculate the distance difference d from the positioning base station to the second antenna and the third antenna;

[0031] Based on the timestamp t of the second antenna a , the timestamp t of the third antenna b , timestamp TA, timestamp TB, the distance L between the second antenna and the third antenna, and the distance difference d, calculate the position of the shell; the position of the shell is the position of the locomotive.

[0032] Optionally, the calculation of the position of the housing specifically adopts the following formula:

[0033]

[0034] in:

[0035] a=(Lsinθ) 2 -d 2 ,

[0036] b=L 2 Dsinθsin2θ,

[0037] c=(LDsinθcosθ) 2 -(dDsinθ) 2 +(d 4 -d 2 L 2 ) / 4-H 2 d 2 ,

[0038] Sgn() is the sign function, D is the distance from the shell to the tunnel wall perpendicular to the shell direction, θ is the deflection angle of the shell, L is the distance between the second antenna and the third antenna, d is the distance difference between the positioning base station and the second antenna and the third antenna, H is the height difference between the positioning base station and the locomotive on the track, x s and s The coordinates of the positioning base station.

[0039] Optionally, the method further includes:

[0040] The straight-line distance Dsinθ from the shell to the tunnel wall determines the track number on which the locomotive is located.

[0041] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0042] According to the actual characteristics of multi-track straight lanes, the present invention proposes a vehicle positioning method based on UWB and ultra-wideband fusion. The modules related to the present invention are simple to operate and easy to install. Since the base station and the positioning module of the present invention are simplex communication, they are used on multiple locomotives, and there will be no signal interference between different modules, so it can be used to realize the positioning of multiple locomotives. The present invention further improves the efficiency of lane management, is suitable for the positioning of various small and medium-sized straight lane rail vehicles, and is also of great significance to the intelligent development of rail vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 This is a schematic diagram of the structure of a vehicle positioning device applicable to a multi-track straight lane according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a multi-track straight lane vehicle positioning method according to an embodiment of the present invention;

[0046] Figure 3 Schematic diagram of shell deflection according to an embodiment of the present invention.

[0047] Explanation of symbols:

[0048] Second antenna-1, third antenna-2, ultrasonic module 3. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The purpose of the present invention is to provide a vehicle positioning device and method suitable for multi-track straight lanes to improve positioning accuracy and realize positioning of multiple locomotives.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] like Figure 1-Figure 3As shown, the above-mentioned device in the present invention includes: a positioning base station, a positioning tag, an ultrasonic module 3, a horizontal gyroscope, a housing and a processor;

[0053] Among them, the positioning base station is installed on the top of one side of the tunnel, and specifically includes: a first antenna, a first antenna receiving and transmitting module and a first high-precision clock. The positioning base station is used to periodically send signals outward.

[0054] The positioning tag is used to receive the signal sent by the positioning base station; the positioning tag includes: a second antenna 1, a third antenna 2, a second antenna 1 transceiver module, a third antenna 2 transceiver module, a second high-precision clock, and a third high-precision clock; the second antenna 1 and the third antenna 2 are respectively arranged at both ends of the shell.

[0055] The ultrasonic module 3 is used to measure the distance between the locomotive, i.e. the shell, and the side wall of the tunnel. The ultrasonic module 3 includes: an ultrasonic transmitter and an ultrasonic receiver;

[0056] The horizontal gyroscope is used to measure the horizontal deflection angle of the housing;

[0057] The positioning tag and the ultrasonic module 3 are arranged on the housing.

[0058] The processor is an ARM embedded platform, which is connected to the positioning tag, the ultrasonic module 3, the positioning base station and the horizontal gyroscope, and is used to calculate the coordinates of the vehicle.

[0059] Based on the above device in the present invention, the present invention further provides a vehicle positioning method applicable to a multi-track straight lane, which is used to calculate the position coordinates of the vehicle, and the positioning method includes:

[0060] S1: Install the positioning base station on the top of one side of the tunnel. Figure 2 The coordinate system shown measures the coordinates of the positioning base station (x s ,y s ), the height difference between the base station and the locomotive on the track is H. The positioning base station broadcasts signals periodically, and each signal sent carries a different tag.

[0061] S2: Place the housing on top of the locomotive so that the arrow is parallel to the vehicle body, and set the initial direction of the horizontal gyroscope to be parallel and in the same direction as the x-axis. Figure 3 As shown, the horizontal gyroscope records the housing deflection angle θ, which is limited by the minimum turning radius of the rail car in the tunnel. It is easy to know that θ∈(0,π).

[0062] S3: Based on the distance measurement principle of ultrasonic module 3, the distance from the module to the tunnel wall perpendicular to the shell direction can be measured. For the convenience of calculation, let it be D. Further, the number of the track where the locomotive is currently located can be determined by comparing Dsinθ with the threshold, such as Figure 2As shown, from left to right are Track ①, Track ② and Track ③, and the three tracks correspond to three different thresholds. For example, when the first threshold is 3 meters, when the calculated Dsinθ is within the first threshold, it is determined that the locomotive is on Track ① at this time.

[0063] S4: In the module of the present invention, the clock crystals connected to the two antennas are relatively independent, so it is necessary to use relative clocks for clock synchronization. At time t1, ARM communicates with the second antenna and records the timestamp t of the second antenna at this time. a Then at time t2, ARM communicates with the third antenna and records the timestamp t of the third antenna at this time. b , and then the relative time difference can be obtained Wherein, T1 represents the clock cycle of the antenna, and T2 represents the clock cycle of the ARM.

[0064] S5: The second antenna 1 receives the positioning base station signal and records the timestamp TA, and the third antenna 2 receives the positioning base station signal with the same mark and records the timestamp TB. The present invention uses the coordinates of the middle point of the two antennas as the coordinates of the location of the positioning shell, and uses the known information to perform algebraic operations to obtain the shell location coordinates (x, y). The positioning result is sent to the main control terminal using the 5G mobile communication network module.

[0065] Further, the algebraic operation calculation process in the present invention is: From S4 and S5, it can be known that the distance difference between the positioning base station and the second antenna and the third antenna is where d a is the distance from the positioning base station to the second antenna, d b is the distance from the positioning base station to the third antenna, v c is the speed of light. Therefore, we can get the equation of a single curve:

[0066]

[0067] Where L is the distance from the second antenna to the third antenna. Figure 3 As shown, it can be seen that the shell's x = x s -DsinθSubstituting it into the single curve equation, we can find y.

[0068] Further, the shell position coordinates are:

[0069]

[0070] in:

[0071] a=(Lsinθ) 2 -d 2 ,

[0072] b=L 2 Dsinθsin2θ,

[0073] c=(LDsinθcosθ) 2 -(dDsinθ) 2 +(d 4 -d 2 L 2 ) / 4-H 2 d 2 ,

[0074] Sgn() is the sign function, D is the distance from the shell to the tunnel wall perpendicular to the shell direction, θ is the deflection angle of the shell, L is the distance between the second antenna 1 and the third antenna 2, d is the distance difference between the positioning base station and the second antenna 1 and the third antenna 2, H is the height difference between the positioning base station and the locomotive on the track, x s and s The coordinates of the positioning base station.

[0075] The above method of the present invention first uses an ultrasonic module and a horizontal gyroscope to obtain the straight-line distance from the locomotive to the tunnel wall, and then uses a pair of ultra-wideband UWB positioning tags to obtain the distance difference. By algebraically solving the single curve equation, the position coordinates of the locomotive can be obtained, and the positioning result is sent to the main control terminal using the 5G mobile communication network. The present invention has a simple structure and is easy to operate. The above device in the present invention can be used to realize the positioning of multiple locomotives.

[0076] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0077] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle positioning device suitable for multi-track straight lanes, characterized in that: The positioning device comprises: The positioning base station is installed on the top of one side of the tunnel and is used to send signals out periodically; A positioning tag, used to receive a signal sent by the positioning base station; the positioning tag includes: a second antenna, a third antenna, a second antenna transceiver module, a third antenna transceiver module, a second high-precision clock and a third high-precision clock; Ultrasonic module, used to measure the distance from the locomotive to the side wall of the roadway; A horizontal gyroscope, used to measure the horizontal deflection angle; A processor, connected to the positioning tag, the ultrasonic module, the positioning base station and the horizontal gyroscope, for calculating the coordinates of the vehicle; The positioning tag and the ultrasonic module are arranged on the housing; The position coordinates of the shell are expressed as: in: a=(Lsinθ) 2 -d 2 , b=L 2 Dsinθsin2θ, c=(LDsinθcosθ) 2 -(dDsinθ) 2 +(d 4 -d 2 L 2 ) / 4-H 2 d 2 , Sgn() is the sign function, D is the distance from the shell to the tunnel wall perpendicular to the shell direction, θ is the deflection angle of the shell, L is the distance between the second antenna and the third antenna, d is the distance difference between the positioning base station and the second antenna and the third antenna, H is the height difference between the positioning base station and the locomotive on the track, x s and s The coordinates of the positioning base station.

2. The vehicle positioning device for multi-track straight lanes according to claim 1 is characterized in that: The positioning base station comprises: A first antenna, a first antenna transceiver module, and a first high-precision clock.

3. The vehicle positioning device for multi-track straight lanes according to claim 1 is characterized in that: The positioning tag includes: a second antenna, a third antenna, a second antenna transceiver module, a third antenna transceiver module, a second high-precision clock and a third high-precision clock; The second antenna and the third antenna are respectively arranged at two ends of the housing.

4. The vehicle positioning device for multi-track straight lanes according to claim 1 is characterized in that: The ultrasonic module includes an ultrasonic transmitter and an ultrasonic receiver.

5. A vehicle positioning method applicable to multi-track straight lanes, characterized in that: The positioning method comprises: Measure the coordinates of the positioning base station, denoted as (x s ,y s ); Place the housing on the top of the locomotive and keep it level with the locomotive, and set the initial direction of the horizontal gyroscope to be parallel and in the same direction as the x-axis; The deflection angle θ of the housing is measured by a horizontal gyroscope; The distance D from the shell to the tunnel wall is measured by an ultrasonic module; The processor obtains the second high-precision clock timestamp t attached to the second antenna at time t1 a ; The processor obtains the third high-precision clock timestamp t attached to the third antenna at time t2. b ; Based on the timestamp t of the second antenna a and the timestamp t of the third antenna b Determine the relative time difference to solve the problem of the clocks used by the second antenna and the third antenna being out of sync; The second antenna receives the signal of the positioning base station and records the timestamp TA of the second high-precision clock; The third antenna receives the signal of the positioning base station and records the timestamp TB of the third high-precision clock; measuring a distance L between the second antenna and the third antenna; Calculate the distance difference d from the positioning base station to the second antenna and the third antenna; Based on the timestamp t of the second antenna a , the timestamp t of the third antenna b , timestamp TA, timestamp TB, the distance L between the second antenna and the third antenna, and the distance difference d, calculate the position of the housing; the position of the housing is the position of the locomotive; The calculation of the position of the housing specifically adopts the following formula: in: a=(Lsinθ) 2 -d 2 , b=L 2 Dsinθsin2θ, c=(LDsinθcosθ) 2 -(dDsinθ) 2 +(d 4 -d 2 L 2 ) / 4-H 2 d 2 , Sgn() is the sign function, D is the distance from the shell to the tunnel wall perpendicular to the shell direction, θ is the deflection angle of the shell, L is the distance between the second antenna and the third antenna, d is the distance difference between the positioning base station and the second antenna and the third antenna, H is the height difference between the positioning base station and the locomotive on the track, x s and s The coordinates of the positioning base station.

6. The multi-track straight lane vehicle positioning method according to claim 5, characterized in that: The method further comprises: The straight-line distance Dsinθ from the shell to the tunnel wall determines the track number on which the locomotive is located.

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