One-dimensional positioning method applied to a narrow channel

Abstract

The application relates to the technical field of tunnel positioning, in particular to a one-dimensional positioning method applied to a long and narrow channel, which comprises the following contents: a pre-installation step: a base station is arranged in a tunnel, a label communicating with the base station is arranged on a rubber-tired vehicle, the label in the tunnel can simultaneously communicate with at least two base stations, and the height of the base station and the label from the ground is the same; a communication ranging step: the label and the base station carry out ranging to obtain ranging information, the ranging information comprises ranging data of the label and the two base stations; a positioning solution step: the type of the tunnel is acquired, a preset solution strategy is called according to the type of the tunnel and the two ranging data, the solution strategy comprises a straight road separation strategy, a straight road intersection strategy and a curved road strategy, and the one-dimensional position is solved according to the called solution strategy to obtain the relative position of the label. The scheme can realize one-dimensional positioning of a vehicle in various tunnel environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel positioning, in particular to a one-dimensional positioning method applied to a long and narrow channel. BACKGROUND

[0002] Coal mine transportation is an indispensable part of underground coal mine production. With the development of the times and the progress of technology, trackless rubber-tyred vehicles have become a new underground transportation method due to their automatic driving, flexibility and other advantages, and have been rapidly promoted and applied in China. At the same time, ensuring the safe, stable, efficient and intelligent operation and scheduling of trackless rubber-tyred vehicles has become a problem that needs to be solved in the industry, and real-time accurate positioning of trackless rubber-tyred vehicles in underground environments is the basis for realizing automatic driving.

[0003] As a special indoor environment, the environment of a coal mine tunnel is quite different from that of an ordinary building. Ordinary indoor positioning generally uses two-dimensional or three-dimensional positioning, and the objects being positioned are mostly mobile bodies in a plane or space. However, the tunnel environment is often a long and narrow channel with known geometric position information, and it is difficult to achieve real-time positioning using two-dimensional or three-dimensional positioning methods. At the same time, due to the communication limitations of underground environments, it is even more difficult to achieve accurate real-time positioning. Therefore, the existing technology uses one-dimensional positioning to determine the relative position of the rubber-tyred vehicle along the extension direction of the tunnel, which can meet the positioning requirements. However, the existing positioning method is limited to a tunnel scenario, such as a straight tunnel, and it is difficult to achieve positioning requirements in curved or sloping environments. Therefore, there is still a lack of a complete and practical one-dimensional positioning scheme for vehicles in a tunnel environment in China. SUMMARY

[0004] The present application aims to provide a one-dimensional positioning method applied to a long and narrow channel, which can achieve one-dimensional positioning of vehicles in various tunnel environments.

[0005] The present application provides the following solutions:

[0006] The one-dimensional positioning method applied to a long and narrow channel includes the following contents:

[0007] Pre-installation step: setting a base station in the tunnel and a tag on the rubber-tyred vehicle that communicates with the base station, the tag being able to simultaneously communicate with at least two base stations in the tunnel, and the height of the base station and the tag from the ground being the same;

[0008] Communication and ranging step: the tag and the base station perform ranging to obtain ranging information, which includes ranging data of the tag with the two base stations;

[0009] Positioning and solving step: obtaining the type of the tunnel, calling a preset solving strategy according to the type of the tunnel and the two ranging data, the solving strategy including a straight tunnel separation strategy, a straight tunnel intersection strategy and a curved tunnel strategy, and performing one-dimensional position solving according to the called solving strategy to obtain the relative position of the tag.

[0010] Further, the tunnel type includes a straight tunnel, and a preset solving strategy is called according to the tunnel type and the two ranging data, including the following contents:

[0011] determining whether the tunnel type is a straight tunnel; taking the two base stations as the centers and the corresponding ranging data as the radii, determining whether the two circles are apart; when the tunnel type is a straight tunnel and the two circles are apart, a straight tunnel apart strategy is called.

[0012] Further, the tunnel type includes a curved tunnel, and a preset solving strategy is called according to the tunnel type and the two ranging data, including the following contents:

[0013] determining whether the tunnel type is a curved tunnel; when the tunnel type is a curved tunnel, a curved tunnel strategy is called.

[0014] Further, a preset solving strategy is called according to the tunnel type and the two ranging data, including the following contents:

[0015] taking the two base stations as the centers and the corresponding ranging data as the radii, determining whether the two circles intersect; when the tunnel type is a straight tunnel and the two circles intersect, a straight tunnel intersection strategy is called.

[0016] Further, the following contents are further included:

[0017] a display step: the relative position of the tag is transmitted to the vehicle terminal of the rubber-tired vehicle, the vehicle terminal is built-in with an electronic map, and the relative position of the tag is displayed on the electronic map in real time.

[0018] Beneficial effects:

[0019] The setting of the pre-installation step is to reasonably configure the base station according to the underground tunnel environment, and to limit the height of the tag and the base station, so that the base station and the tag are located on the same plane, which can realize one-dimensional positioning of the tag, reduce the calculation complexity caused by the height difference between the tag and the base station, and improve the accuracy of subsequent positioning calculation.

[0020] The setting of the positioning calculation step is to design corresponding one-dimensional positioning calculation strategies in combination with the geometric scenes of different tunnels, and different calculation strategies are called for calculation when facing different scenes, which is beneficial to the application and development in the actual environment.

[0021] By using the scheme, the rubber-tired vehicle can be accurately positioned in one dimension in real time in various tunnel environments, and the corresponding strategy algorithm has the advantages of strong robustness, high positioning accuracy and low calculation complexity. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 a flowchart of a one-dimensional positioning method embodiment of the application applied to a long and narrow channel;

[0023] Figure 2 The tunnel and base station schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0024] Figure 3 The base station and tag position plane schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0025] Figure 4 The three times of communication schematic diagram for the tag and base station ranging process for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0026] Figure 5 The straight tunnel schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0027] Figure 6 The straight tunnel and two circles apart geometric relationship schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0028] Figure 7 The straight tunnel and two circles intersect geometric relationship schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0029] Figure 8 The curved tunnel schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application;

[0030] Figure 9 The curved tunnel geometric relationship schematic diagram for the one-dimensional positioning method applied to the long and narrow passage embodiment of the present application. DETAILED DESCRIPTION

[0031] The following is further described in detail through specific embodiments:

[0032] EMBODIMENT

[0033] The one-dimensional positioning method applied to the long and narrow passage, as shown in the accompanying drawings, includes the following contents: Figure 1 Pre-installation step: setting the base station in the tunnel and setting the tag communicating with the base station on the rubber-tired vehicle, the tag in the tunnel can communicate with at least two base stations simultaneously, and the height of the base station and the tag from the ground is the same.

[0034] Communication ranging step: the tag and the base station perform ranging to obtain ranging information, the ranging information includes the ranging data of the tag with the two base stations respectively.

[0035]

[0036] ​Positioning solution step: obtain the tunnel type, call the preset solution strategy according to the tunnel type and two ranging data, the solution strategy includes straightaway separation strategy, straightaway intersection strategy and curved road strategy, and obtain the relative position of the tag according to the called solution strategy.

[0037] Display step: transmit the relative position of the tag to the vehicle terminal of the rubber-tired vehicle, the vehicle terminal is built-in with an electronic map, and the relative position of the tag is displayed on the electronic map in real time.

[0038] Pre-installation step, specifically including the following contents:

[0039] The base station is arranged along the extension direction of the tunnel, the base stations are staggered and arranged on the two side walls of the tunnel, and the base stations are uniformly arranged at a certain distance interval along the two sides of the entire tunnel, and the base stations are distributed in a zigzag shape. The base station is arranged on the side of the tunnel, not on the top of the tunnel. First, it is not convenient to maintain and the cost is high. Second, it is in the same plane as the tag height, thereby realizing one-dimensional positioning.

[0040] Based on the width of the tunnel, when the tunnel is a straightaway, the interval distance of the base stations is set to 0.7D-0.8D; when the tunnel is a curved road, the interval distance of the base stations is appropriately reduced to 0.4D-0.5D according to the size of the curved road turning radius, and D is the maximum communication distance between the base station and the tag. In this embodiment, the base station uses a UWB base station, the base station is configured with a UWB chip and an omnidirectional antenna, and the UWB ranging error is less than 80 cm determined by field test in the tunnel environment.

[0041] A tag for communicating with the base station is arranged on the rubber-tired vehicle, the tag is a vehicle-mounted tag, the tag antenna is arranged at a position such as the roof which is not easily blocked, so as to avoid non-line-of-sight transmission of signals. The tag uses a UWB chip of the same type as the base station, and the tag and the vehicle terminal of the rubber-tired vehicle perform data transmission.

[0042] The base station and the tag have the same height from the ground, the base station and the tag are approximately kept in the same plane, the acceptable height difference between the base station and the tag is that the base station can be slightly higher than the tag, and the height difference is less than 1 m. The tag in the tunnel can at least simultaneously communicate with two base stations.

[0043] The base station and the tag can usually achieve accurate ranging within a range of 160 meters in an open area on the ground. In this embodiment, considering that the attenuation of the electric wave in the tunnel is greater than that in the ground environment, when the tunnel is a straightaway, the interval distance of the base stations is set to 50-80 meters; when the tunnel is a curved road, the interval distance of the base stations is appropriately reduced to 30-50 meters according to the size of the curved road radius, so as to ensure that at least two base stations and the tag are not blocked by the tunnel wall when communicating and ranging. The height of the base station from the ground ranges from 2.5 m to 3.5 m, and when the tunnel is a road with a slope, the base station height is uniformly 2.5-3 m from the ground with the slope as the reference plane.

[0044] In the embodiment, the tunnel includes a straight section and a curved section, as shown in FIG. 1. Figure 2 , Figure 3 The tunnel has a height of 5 m and a width of 5 m, the curved section has an outer radius of 50 m, the straight section has a length of 1000 m, the curved section has an outer arc length of 200 m, and the uniform height is 3 m. The measured distance D is 100 m, the height of the rubber-tyred vehicle top antenna is 2.5 m, and the height of the tag is 0.5 m lower than the base station to prevent shielding. The horizontal interval of the opposite adjacent base stations in the straight section is 0.7D, i.e. 70 m, and the horizontal interval of the same-side adjacent base stations is 140 m; the starting point of the curved section is provided with a base station on the inner side of the curved section, the horizontal interval of the opposite adjacent base stations is 0.4D, i.e. 40 m, and the adjacent base stations are deployed 80 m away from each other on the same side of the tunnel. The two-dimensional reference coordinate system of each base station is established with the tunnel entrance as the reference origin and the tunnel extension direction as the positive direction, and the map database is preset in the vehicle terminal to record the relative positions of each base station.

[0045] The communication and distance measurement step specifically includes the following contents:

[0046] The interval between the base stations in the tunnel ensures that the tag can measure the distance information of at least two base stations; the tag and the base station communicate and measure the distance at a fixed rate during the driving of the rubber-tyred vehicle, and the tag antenna is always located above the tunnel center line during the driving of the rubber-tyred vehicle.

[0047] The tag and the base station communicate and measure the distance to obtain distance measurement information, and the distance measurement method adopts the ADS-TWR distance measurement algorithm based on TOA, which includes three communications between the base station and the tag, as shown in FIG. 2. The communication process is as follows: Figure 4

[0048] (1) First communication: after the tag is initialized, the tag broadcasts and sends a Poll data frame to the surrounding base stations, and the Poll data frame contains tag ID and other information. At this time, the tag records the time stamp T SP when the Poll data frame is sent. The base station is in a receiving mode after being initialized to receive the data frame sent by the tag, and records the time stamp T RP when the signal arrives after receiving the Poll data frame;

[0049] (2) Second communication: after receiving the Poll data frame, the base station sends a Response data frame to the tag after a time interval TSRPa and marks the sending time stamp T SR , wherein T SRPa includes the time for processing the Poll signal and generating the Response data frame. After receiving the Response data frame, the tag records the receiving time stamp T RR ;

[0050] (3) Third communication: after receiving the Response data frame, the tag sends a Reply data frame to the base station after a time interval T SRPt ​The backward base station sends a Final data frame and records the time stamp T SF at the time of sending SP . The Final data frame contains the tag ID, T RR , T SP , and T RF information. After the base station receives the Final signal, it records the time stamp T P at the time of receiving. The base station calculates the time of flight of the signal between the base station and the tag according to the time stamps, and the calculation formula is as follows:

[0051] 4T RR = (T SP -T SRPa )-T RF +(T SR -T SRPt ) (1)

[0052]

[0053] In formula (1) and (2), T SP : the time stamp at the time of sending the Poll data frame. After the initialization of the tag is completed, the tag broadcasts the Poll data frame to the surrounding base stations. The Poll data frame contains the tag ID and other information; T RP : the time stamp T RP at the time of signal arrival after the base station receives the Poll data frame; T SRPa : a time interval, including the time of processing the Poll signal and generating the Response data frame; T SR : the sending time stamp T SR . After the base station receives the Poll data frame, it sends the Response data frame to the tag after a time interval T SRPa ; T RR : the receiving time stamp. The tag records after receiving the Response data frame; T SRPt : a time interval; T SF : the sending time stamp. The base station records after sending the Final data frame after a time interval T SRPt . The Final data frame contains the tag ID, T SP , T RR , and T SP information; T RF : the receiving time stamp. The base station records after receiving the Final signal.

[0054] Assuming that the highest speed of the rubber-tyred vehicle driving in the tunnel is 40km / h and the general speed is 20km / h, in this embodiment, the ranging frequency between the tag and the base station is 10Hz, i.e. 10 ranging positioning is performed per second. The time of flight is multiplied by the speed of light to obtain the distance value between the tag and the base station, and the base station sends the distance value in the Response data frame to the tag. The distance value is the ranging data, and the ranging information includes the ranging data between the tag and the two base stations respectively.

[0055] The tag receives the Response data packet of each base station, reads the distance data between the tag and the base station obtained by the previous ranging solution, and stores the base station ID, the position coordinates and the distance data in the cache.

[0056] The positioning solution step specifically includes the following contents:

[0057] The tunnel type is obtained, and the tunnel type includes a straight tunnel and a curved tunnel. In other embodiments, the tunnel type also includes an irregular curved tunnel. The two base stations closest to the tag are selected in the cache, and the base station closest to the tag is taken as the reference base station to calculate the distance of the tag relative to the base station. The measurement information of the two base stations is obtained, and specifically, the two base stations closest to the tag are selected from the multiple ranging data as the positioning reference base station.

[0058] The preset solution strategy is called according to the tunnel type and the two ranging data, the solution strategy includes a straight tunnel disconnection strategy, a straight tunnel intersection strategy and a curved tunnel strategy, and the relative position of the tag is obtained by one-dimensional position solution according to the called solution strategy.

[0059] The tunnel type mainly includes a straight tunnel and a curved tunnel, and on this basis, the straight tunnel is divided into a horizontal straight tunnel and a slope, and the curved tunnel is divided into a horizontal curved tunnel and a slope, as shown in FIG. 2. Figure 5 When the tunnel type is a straight tunnel, the corresponding solution strategy of the straight tunnel is called, and when the tunnel type is a curved tunnel, the corresponding solution strategy of the curved tunnel is called. Specifically, whether the tunnel type is a straight tunnel and whether the tunnel type is a curved tunnel are judged, and because the same solution strategy can be used for one-dimensional positioning solution when the tunnel is a curved tunnel, the curved tunnel strategy is called when the tunnel type is a curved tunnel.

[0060] Because of the existence of UWB ranging error, there is a difference between the data obtained by ranging and the true data, so when the tunnel type is a straight tunnel, the two base stations are taken as the centers and the corresponding ranging data is taken as the radius to judge whether the two circles are disconnected and whether the two circles intersect. Specifically, the distance between the two centers is calculated, and it is judged whether the distance between the two centers is greater than the sum of the two radii. If yes, it is determined that the two circles are disconnected, and if not, it is determined that the two circles intersect. When the tunnel type is a straight tunnel and the two circles are disconnected, the straight tunnel disconnection strategy is called, and when the tunnel type is a straight tunnel and the two circles intersect, the straight tunnel intersection strategy is called.

[0061] As shown in FIG. 2, the curved tunnel is divided into a horizontal curved tunnel and a slope. Figure 6As shown, when the tunnel is a straight road and the two circles are apart, first solve the point D1 and point D2 on the line connecting the two base stations, and then solve the midpoint coordinates D of the line connecting the two points as the tag position. According to similar triangles, we have:

[0062] ΔAD1E1~ΔD2BE2~ΔABO

[0063] The calculation is as follows:

[0064]

[0065] That is, the straight road apart strategy is to perform one-dimensional positioning calculation according to the following formula:

[0066]

[0067] As shown in the accompanying Figure 7 When the tunnel is a straight road and the two circles intersect, the one-dimensional position of the tag C relative to the base station A can be solved by using the trigonometric relationship:

[0068] DD1 2 = R1 2 - AD 2 = r2 2 - BD 2 = r2 2 - (AB-AD) 2 (5)

[0069]

[0070]

[0071] The calculation is as follows:

[0072]

[0073] That is, the straight road intersection strategy is to perform one-dimensional positioning calculation according to the following formula:

[0074]

[0075] In formula (4), (9), x d is the horizontal distance of the tag relative to the rear base station in the direction of motion, i.e., the relative position of the tag, r1 and r2 are the ranging data corresponding to the two base stations, i.e., the distances of the two base stations from the tag, AB is the distance of the line connecting the two base stations, and OB is the horizontal distance of the two base stations.

[0076] When the tunnel is a curved road, as shown in the accompanying Figure 8 , assuming that the outer ring radius of the curve is R and the tunnel width is b, taking the base station as the center and the ranging data as the radius, two circles are obtained, and there are two cases of intersection (tangency) or separation of the two circles, as shown in the accompanying Figure 9As shown, both can adopt the following method for one-dimensional position solution; taking base station A as the coordinate origin, establishing a coordinate system, the tunnel center as (0, R), taking base station A (x a ,y a ) as the center and r1 as the radius to make a circle, and taking base station B (x b ,y b ) as the center and r2 as the radius to make a circle:

[0077] That is, the curved strategy is to solve one-dimensional positioning according to the following formula:

[0078] Taking the base station behind the moving direction as the coordinate origin, establishing a coordinate system, the tunnel center as (0, R), the base station behind the moving direction as (x a ,y a ) as the center and r1 as the radius, and the other base station as (x b ,y b ) as the center and r2 as the radius, respectively with the equation set of the circle where the tunnel center line is located:

[0079]

[0080]

[0081] In formula (10), (11), b is the tunnel width, R is the outer ring radius of the curved track, r1 and r2 are the corresponding ranging data of the two base stations respectively; according to the equation set, the intersection points D1 (x d1 ,y d1 ) and D2 (x d2 ,y d2 ) of the two circles and the circle where the tunnel center line is located are obtained respectively, and the midpoint of the line connecting the two intersection points is calculated according to the following formula:

[0082]

[0083] In formula (12), (x c ,y c ) is the position coordinate of the tag relative to the base station behind the moving direction, that is, the relative position of the tag, and the position coordinate of the tag C relative to the base station A.

[0084] In other embodiments, when the tunnel is an irregular curved track, the distance between the base stations can be appropriately reduced, and the approximate positioning solution is performed by the straight track method.

[0085] Display step: transmit the relative position of the tag to the vehicle terminal of the rubber-tired vehicle, the vehicle terminal is built-in with an electronic map, and the relative position of the tag is displayed on the electronic map in real time. At the same time, through the 5G / WIFI network, the tag position information is transmitted to the ground monitoring center for display.

[0086] The above-mentioned are only embodiments of the present application, and the common knowledge of specific structures and characteristics in the scheme is not described too much herein. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can perfect and implement the present scheme under the guidance of the present application, combined with their own ability. Some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application. These will not affect the effect and practicality of the patent. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A one-dimensional positioning method applied to narrow channels, characterized in that, Includes the following: Pre-installation steps: Set up base stations inside the tunnel, with the base stations staggered on both sides of the tunnel in a Z-shaped distribution. The height of the base stations from the ground ranges from 2.5m to 3.5m. Set up tags that communicate with the base stations on rubber-wheeled vehicles. The tags inside the tunnel should be able to communicate with at least two base stations simultaneously. The base stations and tags should be at the same height from the ground. The acceptable height difference between the base stations and tags is that the base stations can be slightly higher than the tags, and the height difference should be less than 1m. When the tunnel is straight, the base station spacing is 0.7D-0.8D; when the tunnel is curved, the base station spacing is 0.4D-0.5D, where D is the maximum communication distance between the base station and the tag. Communication ranging steps: The tag and the base station perform ranging to obtain ranging information, which includes the ranging data between the tag and the two base stations respectively; The positioning calculation steps are as follows: First, obtain the tunnel type, which includes curves. Then, based on the tunnel type and two distance measurement data points, invoke a preset calculation strategy, including the following: Invoke the preset calculation strategy based on the tunnel type and two distance measurement data points. The calculation strategy includes straight-road separation strategy, straight-road intersection strategy, and curve strategy. Determine if the tunnel type is a curve. If the tunnel type is a curve, invoke the curve strategy. Perform one-dimensional position calculation based on the invoked calculation strategy to obtain the relative position of the label.

2. The one-dimensional positioning method for narrow channels according to claim 1, characterized in that: The tunnel type includes straight tunnels. Based on the tunnel type and the two distance measurement data, a preset solution strategy is invoked, including the following: Determine if the tunnel type is a straight tunnel; using the two base stations as centers and the corresponding ranging data as radii, determine if the two circles are separate; when the tunnel type is a straight tunnel and the two circles are separate, call the straight tunnel separation strategy.

3. The one-dimensional positioning method for narrow channels according to claim 2, characterized in that: The straight-line separation strategy is to perform one-dimensional positioning calculation based on the following formula: In the formula, denoted as r1, r2 is the horizontal distance of the tag relative to the base station behind it in the direction of movement, i.e., the relative position of the tag. 'r1' and 'r2' are the ranging data corresponding to the two base stations, i.e., the distance between the two base stations and the tag. 'AB' is the distance between the two base stations, and 'OB' is the horizontal distance between the two base stations.

4. The one-dimensional positioning method for narrow channels according to claim 1, characterized in that: The cornering strategy is based on a one-dimensional positioning solution using the following formula: Establish a coordinate system with the rear base station in the direction of movement as the origin, and the center of the tunnel as (0, R). The rear base station in the direction of movement is defined by (0, R). , With ) as the center and r1 as the radius, another base station is located at ( , Let r1 be the center and r2 be the radius. Solve the system of equations simultaneously with the circle containing the tunnel centerline: In the formula, b is the tunnel width, R is the outer ring radius of the curve, and r1 and r2 are the ranging data corresponding to the two base stations, respectively. The intersection points of the two circles and the circle containing the tunnel centerline are obtained by solving the system of equations separately. , (), , ), calculate the midpoint of the line connecting the two intersection points using the following formula: In the formula, ( , ) represents the position coordinates of the tag relative to the base station behind it in the direction of movement, i.e., the relative position of the tag.

5. The one-dimensional positioning method for narrow channels according to claim 1, characterized in that: Based on the tunnel type and the two ranging data, a preset solution strategy is invoked, including the following: Using the two base stations as centers and the corresponding ranging data as radii, determine whether the two circles intersect; when the tunnel type is a straight tunnel and the two circles intersect, call the straight tunnel intersection strategy.

6. The one-dimensional positioning method for narrow channels according to claim 5, characterized in that: The straight-line intersection strategy is to perform one-dimensional positioning calculation based on the following formula: In the formula, denoted as r1, r2 is the horizontal distance of the tag relative to the base station behind it in the direction of movement, i.e., the relative position of the tag. 'r1' and 'r2' are the ranging data corresponding to the two base stations, i.e., the distance between the two base stations and the tag. 'AB' is the distance between the two base stations, and 'OB' is the horizontal distance between the two base stations.

7. The one-dimensional positioning method for narrow channels according to claim 1, characterized in that, Also includes the following: Display steps: The relative position of the tag is transmitted to the vehicle terminal of the rubber-tired vehicle. The vehicle terminal has a built-in electronic map, which is displayed on the electronic map in real time according to the relative position of the tag.

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