Vehicle fusion positioning sensor based on electromagnetic markers

Abstract

The application discloses a vehicle fusion positioning sensor based on electromagnetic markers, which comprises a mechanical shell and a main circuit board, a fusion positioning sensor left module, a fusion positioning sensor right module and a communication circuit board fixed in the mechanical shell. A calculation unit is arranged on the main circuit board, the fusion positioning sensor left and right modules each comprise a plurality of magnetic field detection units, and an RFID reader-writer unit is arranged on the communication circuit board. The vehicle fusion positioning sensor can realize accurate positioning of a vehicle in the transverse and longitudinal directions through the plurality of magnetic field detection units and the RFID detection module; each magnetic field detection unit is provided with an expandable interface, the number of left and right magnetic field detection units can be increased or reduced according to the transverse deviation range of the vehicle, and multi-scene application is realized. In addition, the RFID antenna polarization mode adopts a circular polarization form, and is arranged in parallel with the fusion positioning sensor shell, so that the RFID tags in a certain area in front of the antenna to the rear of the antenna can be detected, the occupied space is small, and the detection distance is far.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromagnetic induction positioning, in particular to a vehicle fusion positioning sensor based on electromagnetic markers. BACKGROUND

[0002] The current vehicle electromagnetic navigation technology is mainly based on magnetic marker digital map and feedforward control algorithm. The magnetic marker digital map is pre-established according to the road magnetic marker sequence and contains a large amount of road information. The feedforward control electromagnetic navigation method detects the electromagnetic marker number of the current position of the vehicle through the magnetic marker positioning sensor, and uses the positioning sensors installed at the front and rear of the vehicle to detect the electromagnetic markers to predict the trajectory information and achieve the purpose of vehicle lateral and longitudinal control.

[0003] The electromagnetic navigation method needs to detect the surrounding magnetic field through the vehicle-mounted magnetic marker sensor to realize the corresponding function. Electromagnetic positioning belongs to a kind of positioning technology, which has high precision, high robustness and high stability, and has been widely applied. The positioning technology currently mainly detects the magnetic marker magnetic field distribution arranged in the environment through the magnetic field sensor, and obtains the pose information and driving parameters of the vehicle itself through the magnetic marker coding.

[0004] The magnetic field detection of the electromagnetic positioning sensor on the magnetic marker is the basis for realizing the positioning of the vehicle. At present, there have been a large number of researches on magnetic field sensors. These magnetic field sensors can obtain the lateral deviation of the vehicle by detecting the magnetic field of the road magnetic marker, and obtain the longitudinal position through the magnetic marker sequence coding, but this method cannot quickly obtain the information required for longitudinal positioning, and thus the position of the vehicle in the global map cannot be obtained. The requirement for longitudinal positioning is high during the driving process of the vehicle, and the information detected by the magnetic field sensor cannot meet the demand of fast longitudinal positioning of the vehicle. The addition of RFID sensors can quickly obtain the current longitudinal position of the vehicle by collecting the RFID tag information placed on the road according to the position information stored in the tag. SUMMARY

[0005] The purpose of the present application is to provide a vehicle fusion positioning sensor based on electromagnetic markers, which can quickly position the vehicle in the lateral and longitudinal directions and reduce the cost of the sensor through the detection of magnetic markers and RFID tags.

[0006] To achieve the above purpose, the present application provides the following scheme:

[0007] The application discloses a vehicle fusion positioning sensor based on electromagnetic markers, which comprises a mechanical shell and a main circuit board, a fusion positioning sensor left module, a fusion positioning sensor right module and a communication circuit board fixed in the mechanical shell; a computing unit is arranged on the main circuit board; the fusion positioning sensor left module comprises a plurality of left magnetic field detection units; the fusion positioning sensor right module comprises a plurality of right magnetic field detection units; the fusion positioning sensor left module and the fusion positioning sensor right module are respectively arranged on both sides of the main circuit board in a mirror image mode; the communication circuit board is vertically arranged above the main circuit board; and an RFID detection module is arranged on the communication circuit board.

[0008] The left magnetic field detection unit comprises a three-axis magnetic field sensor and an expandable interface; the plurality of left magnetic field detection units are connected through the expandable interface; and the three-axis magnetic field sensor transmits the sampled magnetic field quantity to the computing unit through an SPI bus.

[0009] The RFID detection module comprises an RFID reader-writer unit, an RFID antenna, an antenna feeder and an RFID tag; the RFID reader-writer unit is connected with the RFID antenna through the antenna feeder; the RFID tag is located above a road magnetic marker; the RFID reader-writer unit transmits the detected tag information to the computing unit through a serial communication mode; and the computing unit realizes the lateral positioning and longitudinal positioning of the vehicle according to the magnetic field quantity, the tag information and magnetic marker coding information.

[0010] Optionally, left and right baffles are arranged on the left and right sides of the mechanical shell respectively, and a cover plate is arranged above the mechanical shell; and the material of the mechanical shell is aluminum profile.

[0011] Optionally, the main circuit, the fusion positioning sensor left module and the fusion positioning sensor right module are slid into the mechanical shell through a sliding groove of the mechanical shell, and the left and right baffles are used for limiting the left and right movements of the main circuit, the fusion positioning sensor left module and the fusion positioning sensor right module.

[0012] Optionally, a communication interface unit is further arranged on the communication circuit board and connected with the computing unit.

[0013] Optionally, the RFID antenna is a 915MHz glass-steel circularly polarized antenna; the RFID antenna is arranged in parallel with the mechanical shell and is used for reading the RFID tags in front and back of the RFID antenna.

[0014] Optionally, the polarization mode of the RFID antenna is vertical polarization, and the radiation direction is 360° omnidirectional.

[0015] Optionally, the vehicle fusion positioning sensor based on electromagnetic markers further comprises a debugging interface unit; the debugging interface unit is located on the main circuit board; the debugging interface unit is connected with the computing unit and an external device respectively.

[0016] Optionally, the debugging interface unit comprises an HDMI interface and a Type-C interface; the HDMI interface is connected with a display for visualization of the computing unit; the Type-C interface is connected with a keyboard and a mouse for operation and burning of the computing unit.

[0017] Optionally, the vehicle fusion positioning sensor based on electromagnetic markers further comprises a power supply; the power supply is located on the communication circuit board; the power supply is connected with the computing unit, the fusion positioning sensor left module, the fusion positioning sensor right module, the RFID detection module, the communication interface unit and the debugging interface unit respectively; the power supply is used for power supply.

[0018] According to the specific embodiments of the present application, the following technical effects are provided:

[0019] The application provides a vehicle fusion positioning sensor based on electromagnetic markers, which comprises a mechanical shell and a main circuit board, a fusion positioning sensor left module, a fusion positioning sensor right module and a communication circuit board fixed in the mechanical shell; a calculation unit is arranged on the main circuit board; the fusion positioning sensor left module comprises a plurality of left magnetic field detection units; the fusion positioning sensor right module comprises a plurality of right magnetic field detection units; the fusion positioning sensor left module and the fusion positioning sensor right module are respectively arranged on both sides of the main circuit board and are mirror images; the communication circuit board is vertically placed above the main circuit board; an RFID detection module is arranged on the communication circuit board; the left magnetic field detection unit comprises a three-axis magnetic field sensor and an expandable interface; the plurality of left magnetic field detection units are connected through the expandable interface; the three-axis magnetic field sensor transmits the sampled magnetic field quantity to the calculation unit through an SPI bus; the RFID detection module comprises an RFID reader-writer unit, an RFID antenna, an antenna feeder and an RFID tag; the RFID reader-writer unit is connected with the RFID antenna through the antenna feeder; the RFID tag is located above a road magnetic marker; the RFID reader-writer unit transmits the detected tag information to the calculation unit through a serial communication mode; the calculation unit realizes the lateral positioning and longitudinal positioning of the vehicle according to the magnetic field quantity, the tag information and the magnetic marker coding information. The vehicle fusion positioning sensor can realize the accurate lateral positioning and longitudinal positioning of the vehicle, and reduce the cost of the sensor; and each magnetic field detection unit has an expandable interface, so that the number of left and right magnetic field detection units can be increased or reduced according to the lateral deviation range, and multi-scene application is realized.

[0020] In addition, the RFID antenna polarization mode adopts a circular polarization form, and is placed in parallel with the fusion positioning sensor shell, so that the RFID tag in a certain area in front of the antenna to the back can be detected, the occupied space is small, and the detection distance is far. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0022] Figure 1 The overall structure schematic diagram of the vehicle fusion positioning sensor based on electromagnetic markers provided by the application is shown in the figure.

[0023] Figure 2The unit connection schematic diagram of the vehicle fusion positioning sensor based on electromagnetic markers provided by the application is shown in the figure.

[0024] Figure 3 The mechanical shell assembly schematic diagram of the vehicle fusion positioning sensor based on electromagnetic markers provided by the application is shown in the figure.

[0025] Figure 4 The RFID antenna schematic diagram of the vehicle fusion positioning sensor based on electromagnetic markers provided by the application is shown in the figure. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0027] The purpose of the application is a vehicle fusion positioning sensor based on electromagnetic markers, which realizes the transverse and longitudinal positioning of the vehicle by detecting the magnetic markers and RFID tags and reduces the cost of the sensor.

[0028] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0029] The vehicle fusion positioning sensor based on electromagnetic markers provided by the application obtains the magnetic field size and direction at the vehicle fusion positioning sensor by detecting the magnetic field of the magnetic markers and the code of the RFID tags, simultaneously obtains the RFID code information, combines the relevant algorithm to calculate the transverse and longitudinal positions of the vehicle, simultaneously obtains the transverse deviation of the vehicle relative to the road, and the longitudinal position of the vehicle in the digital map.

[0030] Figure 1 The overall structure schematic diagram of the vehicle fusion positioning sensor based on electromagnetic markers provided by the application is shown in the figure. Figure 1 As shown in the figure, the vehicle fusion positioning sensor includes a mechanical shell 1, a main circuit board 2, a fusion positioning sensor left module 3, a fusion positioning sensor right module 4 and a communication circuit board 5 fixed in the inside of the mechanical shell 1 (in the figure, the structure is shown more completely, and the inside has been hidden).

[0031] The main circuit board 2 is provided with a computing unit 6. One or more magnetic field detection units can be included in the fusion positioning sensor left module 3 and the fusion positioning sensor right module 4. Specifically, the fusion positioning sensor left module 3 includes a plurality of left magnetic field detection units, and the fusion positioning sensor right module 4 includes a plurality of right magnetic field detection units; the left magnetic field detection units and the right magnetic field detection units are the same in structure and each include a three-axis magnetic field sensor and an expandable interface. The plurality of left magnetic field detection units or the plurality of right magnetic field detection units are connected through the expandable interface. The fusion positioning sensor left module 3 and the fusion positioning sensor right module 4 are respectively located on both sides of the main circuit board 2 and are mirror image arranged.

[0032] The communication circuit board 5 is vertically placed above the main circuit board 2, and the communication circuit board 5 is provided with an RFID reader unit in the RFID detection module. The RFID detection module includes an RFID reader unit, an RFID antenna, an antenna feeder and an RFID tag; the RFID reader unit is connected with the RFID antenna through the antenna feeder; the RFID tag is located above the road magnetic mark; the RFID reader unit transmits the detected tag information to the computing unit 6 through a serial communication mode.

[0033] Figure 2 The unit connection diagram of the vehicle fusion positioning sensor based on the electromagnetic marker provided by the application is shown. Figure 2 As shown, a plurality of magnetic field detection units, RFID detection modules, communication interface units and debugging interface units are respectively connected with the computing unit 6.

[0034] The design of the vehicle fusion positioning sensor provided by the application mainly includes circuit design and mechanical shell design.

[0035] The circuit design is the main part of the vehicle fusion positioning sensor, and needs to ensure the coordinated work between units and improve the integration. The circuit design mainly includes four parts of the computing unit circuit design, the magnetic field detection unit circuit design, the RFID detection module circuit design and the overall circuit principle diagram design.

[0036] The computing unit circuit design is the core of the circuit design, which is used to process the magnetic field quantity sampled by the three-axis magnetic field sensor and the RFID tag information detected by the RFID reader unit. The computing unit of the vehicle fusion positioning sensor adopts the core board of Raspberry Pi Compute module4, and the core processor is Broadcom BCM2711. The computing unit core board has rich peripheral interfaces, small size and easy to place. The design of the computing unit circuit needs to ensure the normal work of the core board and the normal connection of the peripheral interfaces. The design of the core board circuit is the basis for ensuring the normal work of the vehicle fusion positioning sensor.

[0037] The left magnetic field detection unit and the right magnetic field detection unit have the same structure, both including a three-axis magnetic field sensor and an expandable interface. The multiple magnetic field detection units are connected through the expandable interface. The three-axis magnetic field sensor can measure the magnetic field quantity in X, Y and Z directions at the same time, and transmit the sampled magnetic field quantity to the computing unit 6 through the SPI bus.

[0038] The magnetic field detection unit circuit design mainly designs the circuit of the X, Y and Z direction magnetic field sensor and the circuit of the magnetic field sensor control chip. At the same time, in order to increase the expandability of the vehicle fusion positioning sensor, the expandable interface is adopted in the magnetic field detection unit circuit design. The magnetic field detection units can be connected through the expandable interface on both sides of the magnetic field detection unit. The calculation of vehicle lateral deviation and the data input of longitudinal positioning depend on the collection of magnetic marker magnetic field. Therefore, the corresponding magnetic field quantity collection unit, i.e. the magnetic field detection unit circuit, should be set in the vehicle fusion positioning sensor to ensure the normal work of the magnetic field sensor. Due to the size limitation of the vehicle fusion positioning sensor, the size of the internal installed magnetic field sensor should be as small as possible. The magnetic field detection unit adopts a miniature magnetic field sensor, i.e. a three-axis magnetic field sensor. The three-axis magnetic field sensor has the advantages of high resolution and high repeatability, and can realize the measurement of three-dimensional space magnetic field size. The internal communication mode based on SPI bus can realize high-speed data transmission between the computing unit and the three-axis magnetic field sensor up to 1MHz. Through configuration, the detection frequency of the three-axis magnetic field sensor is between 0.1Hz-100Hz. Through the circuit design of the magnetic field detection unit, the magnetic field detection unit can efficiently obtain the surrounding magnetic marker magnetic field information in the vehicle fusion positioning sensor, and transmit the obtained information to the computing unit 6.

[0039] The RFID detection module design primarily focuses on the peripheral circuitry of the RFID reader unit to ensure its normal operation. The RFID detection module includes the RFID reader unit, RFID antenna, antenna feed line, and RFID tag. Due to space limitations on the main circuit board 2, the RFID reader unit and antenna feed line interface are located on the communication circuit board 5. The RFID reader unit is installed inside the mechanical housing 1 of the vehicle fusion positioning sensor and connected to the antenna feed line interface. The antenna feed line interface extends outwards through the mechanical top cover and connects to the RFID antenna via the antenna feed line. The RFID tag is located above the road magnetic marker.

[0040] The RFID reader / writer unit is a long-range read / write module with a highly integrated UHF reader / writer chip, primarily used for applications with typical reading distances within 0-30m. The RFID reader / writer unit features low power consumption and a small size, meeting the low-cost requirement of this invention. It employs a multi-tag anti-collision algorithm architecture. The computing unit 6 can communicate with the RFID reader / writer unit via TTL signals, enabling it to read data from RFID tags placed on the road. The RFID reader / writer unit connects to the computing unit 6 via serial communication; once it detects an RFID tag, it transmits the tag information to the computing unit 6 via the serial port.

[0041] Figure 4 This is a schematic diagram of the RFID antenna for the vehicle fusion positioning sensor based on electromagnetic tags provided by the present invention. Figure 4 As shown, the RFID antenna is a 915MHz fiberglass circularly polarized antenna with vertical polarization and 360° omnidirectional radiation. The RFID antenna is placed parallel to the mechanical housing and connected to the bracket using four high-strength nylon bases, avoiding interference from the metal base and ensuring both gain and hardware stability. The RFID antenna is horizontally parallel to the mechanical housing and positioned transversely on the vehicle chassis, enabling reading of tags before and after the antenna. It occupies little space and has a long detection range. Therefore, the vehicle's direction of travel does not affect the RFID reader's ability to read tag data.

[0042] The overall circuit schematic design includes the design of four parts: the main circuit, the left module circuit of the fusion positioning sensor, the right module circuit of the fusion positioning sensor, and the communication circuit.

[0043] The main circuit board 2 corresponding to the main circuit is placed in the middle of the vehicle fusion positioning sensor. The main circuit board 2 corresponding to the main control circuit is equipped with a power supply, computing unit, left and right expandable interfaces, communication circuit interface and debugging interface, etc.

[0044] The debugging interface unit is located on the main circuit board 2, and the debugging interface unit is connected with the computing unit 6 and an external device respectively. The debugging interface unit comprises an HDMI interface and a Type-C interface, wherein the HDMI interface is connected with a display for visualization of the computing unit; and the Type-C interface is connected with an external keyboard and mouse for operation and burning of the computing unit 6.

[0045] The left magnetic field detection unit circuit board corresponding to the fusion positioning sensor left module is placed on the left side of the main circuit board 2, and the left magnetic field detection unit circuit board of the fusion positioning sensor has corresponding electrical interfaces on both sides, so that a plurality of right magnetic field detection unit circuit boards can be conveniently expanded. As a specific embodiment, nine left magnetic field detection units are provided. The left magnetic field detection unit comprises a three-axis magnetic field sensor, a power supply part and expandable interfaces on the left and right sides. The right magnetic field detection unit circuit board corresponding to the fusion positioning sensor right module is placed on the right side of the main circuit board 2, and the circuit diagram is the same as that of the fusion positioning sensor left magnetic field detection unit, and only the PCB design is a mirror image of the fusion positioning sensor left magnetic field detection unit. The right magnetic field detection unit circuit board of the fusion positioning sensor has corresponding electrical interfaces on both sides, so that a plurality of right magnetic field detection unit circuit boards can be conveniently expanded. As a specific embodiment, nine right magnetic field detection units are provided.

[0046] The communication circuit corresponding circuit board 5 is placed vertically above the main circuit board 2, and the communication circuit board 5 is further provided with a communication interface unit and a power module. The communication interface unit provides an interface between the fusion positioning sensor and an external device, and the communication interface unit comprises an M12-X network port, an M12 connector interface (CAN bus interface and 12-24V wide range power supply interface), and an SMA antenna interface of an RFID reader unit. The M12 connector interface can be connected with a CAN bus and an Ethernet. Due to the space limitation of the main circuit board, the RFID reader unit circuit and the CAN peripheral driving circuit are placed on the communication circuit board 5.

[0047] The power module is located on the communication circuit board 5, and external power supply can be conveniently connected. The power module is connected with the computing unit 6, the fusion positioning sensor left module 3, the fusion positioning sensor right module 4, the RFID detection module, the communication interface unit and the debugging interface unit through a plurality of voltage division units for power supply.

[0048] Figure 3 A mechanical shell assembly diagram of a vehicle fusion positioning sensor based on an electromagnetic marker is provided. Figure 3As shown, the mechanical shell 1 is made of aluminum profile material, which is light in weight. Meanwhile, the mechanical shell 1 is provided with left and right baffles on the left and right sides. The main circuit board 2, the fusion positioning sensor left module 3 and the fusion positioning sensor right module 4 are slid into the mechanical shell 1 through the sliding groove of the mechanical shell 1, and the left and right baffles are used to limit the left and right movements of the main circuit board 2, the fusion positioning sensor left module 3 and the fusion positioning sensor right module 4. The upper portion of the mechanical shell 1 is provided with a cover plate, and the communication circuit board 5 is connected with the main circuit board 2 through the slot hole of the cover plate (upper cover plate) of the mechanical shell 1, and the SMA antenna interface, the M12-X type network port and the M12 connector interface of the RFID reader unit on the communication circuit board 5 are led out through the corresponding slot holes of the cover plate.

[0049] The working principle of the vehicle fusion positioning sensor is as follows.

[0050] After the design of the vehicle fusion positioning sensor is completed, the vehicle fusion positioning sensor needs to be matched with specific electromagnetic markers to work. The electromagnetic markers include magnetic markers and RFID tags. Since the RFID tags are buried in the ground at a depth that is too deep, the detection distance of the RFID reader unit will be greatly affected. Therefore, the electromagnetic markers are arranged as follows: the magnetic markers are placed below by punching holes in the ground, the RFID tags are placed above the magnetic markers by cutting grooves in the ground, and finally the RFID tags are sealed by resin glue. Since the RFID tags are linearly polarized, the detection distance is farthest when the RFID tags are perpendicular to the driving direction of the vehicle, therefore the RFID tags are placed perpendicular to the lane line.

[0051] The vehicle fusion positioning sensor and the electromagnetic markers work together to obtain the input parameters required for the lateral positioning and longitudinal positioning of the vehicle. Therefore, the distribution information of the spatial magnetic field when the vehicle passes through the magnetic markers can be collected to determine the lateral distance of the vehicle relative to the magnetic markers (fixed position), and finally the size of the lateral deviation of the vehicle is obtained. The vehicle can obtain the RFID tag and the magnetic marker code by using the fusion positioning sensor to realize longitudinal positioning. The RFID tag stores position information, and the magnetic field direction and size information of each point in the space near the magnetic marker are different. A relatively rough longitudinal position is obtained by acquiring the RFID tag signal, and the accurate position of the code group is obtained by decoding the acquired magnetic marker polarity sequence, and finally the specific position of the vehicle in the digital map is obtained to achieve the purpose of global longitudinal positioning.

[0052] The vehicle needs to pass a magnetic marker to determine the specific position of the vehicle, which means that the vehicle cannot determine its specific position in the map before obtaining the longitudinal positioning information, that is, cannot obtain the environmental conditions of the position, which will have a certain impact on the longitudinal and lateral control of the vehicle. The use of radio frequency identification (RFID) can solve this problem. The principle of this technology is to use the RFID reader unit to read the position information stored in the RFID tag installed on the ground through non-contact data communication between the RFID reader unit and the RFID tag. This method enables the vehicle to obtain longitudinal position information through the RFID tag before passing the magnetic marker. The fusion positioning sensor can realize non-contact data communication between the RFID tag and the RFID reader through the built-in RFID reader unit, that is, the longitudinal position information inside the ground tag can be obtained.

[0053] The vehicle fusion positioning sensor based on electromagnetic markers can determine the lateral distance of the vehicle relative to the fixed position magnetic marker by collecting the distribution information of the space magnetic field when the vehicle passes the magnetic marker, and ultimately obtain the size of the lateral deviation of the vehicle; and realize longitudinal positioning through the combination of RFID tag information and magnetic marker code obtained by the vehicle fusion positioning sensor.

[0054] The vehicle fusion positioning sensor can accurately measure the input parameters of the lateral positioning and longitudinal positioning methods at the same time by detecting the magnetic field of the magnetic marker and the RFID tag signal through multiple three-axis magnetic sensors and RFID detection modules, thereby realizing the lateral and longitudinal positioning of the vehicle. A plurality of magnetic field detection units are adopted, and the interface is expandable, and the number of magnetic field detection units can be increased or reduced according to the lateral deviation range of the vehicle, so as to realize the application of the vehicle fusion positioning sensor in multiple scenes. The vehicle fusion positioning sensor designed in the application has high integration and small size, and can be applied to various magnetic navigation vehicles, and is matched with the corresponding vehicle lateral and longitudinal positioning method to realize the lateral and longitudinal positioning function of the vehicle. Moreover, the vehicle fusion positioning sensor based on electromagnetic markers designed in the application fully considers various problems that may occur in the engineering application process, so as to be applicable to the positioning requirements of the vehicle in the actual engineering process.

[0055] The principles and embodiments of the application are described in specific examples in this paper, and the above examples are only used to help understand the method and core idea of the application; at the same time, for those skilled in the art, according to the idea of the application, the specific embodiments and application scope will be changed. In view of the above, the content of the specification should not be understood as a limitation of the application.

Claims

1. An electromagnetic marker based vehicle fusion positioning sensor, characterized in that, The application relates to a vehicle positioning system, which comprises a mechanical shell and a main circuit board, a fusion positioning sensor left module, a fusion positioning sensor right module and a communication circuit board fixed in the mechanical shell; a computing unit is arranged on the main circuit board; the fusion positioning sensor left module comprises a plurality of left magnetic field detection units; the fusion positioning sensor right module comprises a plurality of right magnetic field detection units; the fusion positioning sensor left module and the fusion positioning sensor right module are respectively arranged on the two sides of the main circuit board and are mirror images; the communication circuit board is vertically arranged above the main circuit board; an RFID detection module is arranged on the communication circuit board; wherein left and right baffles are arranged on the left and right sides of the mechanical shell, a cover plate is arranged above the mechanical shell, the material of the mechanical shell is aluminum profile, the main circuit, the fusion positioning sensor left module and the fusion positioning sensor right module are slid into the mechanical shell through a sliding groove of the mechanical shell, and the left and right baffles are used for limiting the left and right movements of the main circuit, the fusion positioning sensor left module and the fusion positioning sensor right module; the left magnetic field detection unit comprises a three-axis magnetic field sensor and an expandable interface; the left magnetic field detection units are connected through the expandable interfaces; the three-axis magnetic field sensor transmits the sampled magnetic field quantity to the computing unit through an SPI bus; the RFID detection module comprises an RFID reader unit, an RFID antenna, an antenna feeder and an RFID tag; the RFID reader unit is connected with the RFID antenna through the antenna feeder; the RFID tag is located above a road magnetic mark; the RFID reader unit transmits the detected tag information to the computing unit through a serial communication mode; the computing unit realizes the lateral positioning and longitudinal positioning of a vehicle according to the magnetic field quantity, the tag information and magnetic mark coding information; a communication interface unit is further arranged on the communication circuit board and is connected with the computing unit; the RFID antenna is a 915MHz glass steel circular polarization antenna; the RFID antenna is parallelly arranged with the mechanical shell and is used for reading the RFID tags in front of and behind the RFID antenna; the polarization mode of the RFID antenna is vertical polarization, and the radiation direction is 360 degrees omnidirectional; a debugging interface unit is further arranged; the debugging interface unit is arranged on the main circuit board and is connected with the computing unit and an external device; the debugging interface unit comprises an HDMI interface and a Type-C interface; the HDMI interface is connected with a display and is used for visualizing the computing unit; the Type-C interface is connected with a keyboard and a mouse and is used for operating and burning the computing unit; a power supply is further arranged; the power supply is arranged on the communication circuit board and is connected with the computing unit, the fusion positioning sensor left module, the fusion positioning sensor right module, the RFID detection module, the communication interface unit and the debugging interface unit; and the power supply is used for power supply. ​ ​ ​ ​ ​ 2. The electromagnetic marker based vehicle fusion positioning sensor according to claim 1, wherein, ​ 3. The electromagnetic marker based vehicle fusion positioning sensor according to claim 1, wherein, ​ 4. The electromagnetic marker based vehicle fusion positioning sensor according to claim 3, wherein, ​ 5. The electromagnetic marker based vehicle fusion positioning sensor of claim 2, wherein, ​ ​ ​ ​ 6. The electromagnetic marker based vehicle fusion positioning sensor according to claim 5, wherein, ​ 7. The electromagnetic marker based vehicle fusion positioning sensor of claim 5, wherein, ​ ​ ​

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