A workshop positioning device and positioning method based on wireless communication

Abstract

The present invention relates to a workshop positioning device based on wireless communication and a positioning method thereof, comprising two vehicles, respectively referred to as a first vehicle and a second vehicle, a wireless positioning module fixed to the first vehicle, a plurality of electronic positioning tags fixed to the second vehicle, a positioning mark point fixed to the second vehicle and a solving unit; the wireless positioning module can obtain the coordinate information of each of the electronic positioning tags; based on the above information, the solving unit can accurately solve the coordinate value of the positioning mark point; the present invention can integrate and reduce the positioning error of a single positioning tag through the joint positioning of multiple positioning tags, and accurately obtain the relative position relationship between vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a workshop positioning device based on wireless communication and a positioning method thereof. Background Art

[0002] Accurate positioning between vehicles is a prerequisite for vehicle platooning. In existing technologies, positioning between vehicles usually adopts positioning methods such as machine vision and laser radar. Each of these positioning methods has its own advantages, but there are also problems such as high cost, insufficient reliability, limited positioning accuracy and instability. Although wireless technologies such as UWB positioning and radio frequency positioning have low costs and high reliability, they also have problems such as insufficient direct positioning accuracy.

[0003] In order to solve the above technical problems, the present invention attempts to adopt low-cost and high-reliability wireless positioning technology to apply vehicle-to-vehicle positioning, and improve the positioning accuracy between vehicles through reasonable positioning device design and new positioning algorithms. A workshop positioning device based on wireless communication and its positioning method are developed to solve the problems existing in the prior art. After searching, no technical solutions identical or similar to the present invention were found. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle-to-vehicle positioning device and a positioning method based on wireless communication, so as to solve the problems of high cost and insufficient positioning accuracy of vehicle-to-vehicle positioning devices in the prior art. The purpose of the present invention is to provide a vehicle-to-vehicle positioning device and a positioning method based on wireless communication, so as to solve the problems of high cost and insufficient positioning accuracy of vehicle-to-vehicle positioning devices in the prior art.

[0005] The technical solution of the present invention is: a workshop positioning device based on wireless communication, which is creative in that it includes two vehicles, respectively called a first vehicle and a second vehicle, a wireless positioning module fixed to the first vehicle, a plurality of electronic positioning tags fixed to the second vehicle, positioning marking points fixed to the second vehicle, and a solution unit; The function of the wireless positioning module is to obtain the coordinate information of each of the electronic positioning tags based on the first vehicle coordinate system; The function of the calculation unit is to accurately calculate the coordinate value of the positioning mark point based on the coordinate information of each electronic positioning tag through fusion calculation, so as to determine the relative position relationship between the vehicles.

[0006] Preferably, the wireless positioning module adopts a UWB positioning device with relatively high positioning accuracy, and may also adopt a wireless radio frequency positioning device.

[0007] Preferably, in order to avoid signal blocking, the wireless positioning module and the electronic positioning tag are both arranged on the top of the vehicle.

[0008] The present invention also includes a positioning method for a vehicle positioning device based on wireless communication. In the existing wireless positioning technology, the positioning accuracy is low. For example, the UWB technology with high positioning accuracy has a direct positioning error of 150mm-300mm, which is difficult to meet the requirements of vehicle-to-vehicle positioning accuracy. For this reason, the present invention proposes a new positioning method, and the specific steps are as follows: S1, initial calibration The first vehicle and the second vehicle are placed in a relatively fixed position, and the initial coordinate values ​​of each of the electronic positioning tags and the positioning mark points are calibrated based on the coordinate system of the first vehicle to obtain the initial coordinate matrix V0 of the electronic positioning tags and the coordinate vector A0 of the positioning mark points; the specific calibration method is an existing mature technology, for example, a machine vision calibration method can be used, and the positioning accuracy can reach up to 10 microns; it should be pointed out that the positioning accuracy of machine vision is obviously very high, but it has high requirements on the environment and takes a long time, so it is not suitable for real-time positioning, but is more suitable for static calibration; S2, real-time acquisition of the coordinate values ​​of each electronic positioning tag When the vehicle is driving, at any time t, the wireless positioning module obtains the coordinate values ​​of each electronic positioning tag in real time and forms a coordinate matrix V t ; S3, solve the transformation matrix Based on the coordinate matrix transformation formula V t =RV0+T Solve the coordinate transformation matrices R and T; Among them, R is the rotation matrix, T is the translation matrix, and its solution method is relatively mature, mainly using the registration algorithm, which will not be described in detail here; S4, calculating the real-time coordinate vector A of the positioning mark point t Since each of the electronic positioning tags and the positioning mark points are fixed to the second vehicle, the relative position relationship between them is fixed, so the rotation matrix and translation matrix of their coordinate information are the same. Therefore, A t =RA0+T. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a structural schematic diagram of a workshop positioning device based on wireless communication according to the present invention; Figure 2 The present invention is a flowchart of a positioning method of a workshop positioning device based on wireless communication. DETAILED DESCRIPTION

[0010] The present invention is further described in detail below in conjunction with specific embodiments: like Figure 1 As shown, a workshop positioning device based on wireless communication includes two vehicles, namely a first vehicle 1 and a second vehicle 2, a wireless positioning module 3 fixed on the top of the first vehicle 1, and 10 electronic positioning tags T1-T fixed on the top of the second vehicle 2. 10 , a positioning mark point A and a solving unit are also fixed on the top of the second vehicle 2; The wireless positioning module 3 uses a UWB device with high wireless positioning, which can obtain the electronic positioning tag T1-T based on the coordinate system of the first vehicle 1. 10 Coordinate information of The function of the solving unit is to locate the electronic positioning tags T1-T 10 The coordinate information of the positioning marker point A is accurately calculated through fusion calculation.

[0011] Since the direct positioning accuracy of UWB is only between 150mm and 300mm, it cannot meet the accuracy requirements of workshop positioning; therefore, the present invention also proposes a positioning method of a workshop positioning device based on wireless communication; combined with Figure 1 , Figure 2 As shown, in the present invention, determining the relative position relationship between vehicles is essentially to obtain the coordinate value of any positioning mark point A on the second vehicle 2 based on the coordinate system of the first vehicle 1, and the specific steps are as follows: S1, initial calibration The first vehicle and the second vehicle are placed in a relatively fixed position, and the electronic positioning tags T1-T are calibrated based on the coordinate system of the first vehicle. 10 and the initial coordinate value of the positioning mark point A, to obtain the initial coordinate matrix V0 of the electronic positioning tag and the coordinate vector A0 of the positioning mark point; S2, real-time acquisition of the coordinate values ​​of each electronic positioning tag When the vehicle is driving, at any time t, the wireless positioning module obtains the electronic positioning tags T1-T in real time. 10 The coordinate values ​​of t ; S3, solve the transformation matrix Based on the coordinate matrix transformation formula V t =RV0+T Solve the coordinate transformation matrices R and T; Among them, R is the rotation matrix and T is the translation matrix; S4, calculating the real-time coordinate vector A of the positioning mark point A t , A t =RA0+T. Implementation Effect

[0012] The present invention has achieved unexpected technical effects in improving positioning accuracy. When UWB technology is used for direct positioning, the positioning accuracy is between 150mm-300mm. However, when the positioning device and positioning method of the present invention are used, only the coordinate information of 10 electronic positioning tags is used for fusion and solution, and the positioning accuracy can reach 3mm-9mm. The positioning accuracy is improved by dozens of times, which fully meets the accuracy requirements of workshop positioning.

Claims

1. A workshop positioning device based on wireless communication, characterized in that: It includes two vehicles, respectively referred to as a first vehicle and a second vehicle, a wireless positioning module fixed to the first vehicle, a plurality of electronic positioning tags fixed to the second vehicle, positioning marking points fixed to the second vehicle, and a solution unit; The function of the wireless positioning module is to obtain the coordinate information of each of the electronic positioning tags based on the first vehicle coordinate system; The function of the calculation unit is to accurately calculate the coordinate value of the positioning mark point based on the coordinate information of each electronic positioning tag.

2. A workshop positioning device based on wireless communication according to claim 1, characterized in that: The wireless positioning module adopts a UWB positioning device.

3. A workshop positioning device based on wireless communication according to claim 1, characterized in that: The wireless positioning module adopts a radio frequency positioning device.

4. The workshop positioning device based on wireless communication according to claim 1, characterized in that: The wireless positioning module and the electronic positioning tag are both arranged on the top of the vehicle to avoid signal obstruction.

5. A positioning method for a workshop positioning device based on wireless communication according to any one of claims 1 to 4, characterized in that: The specific steps are as follows: S1, initial calibration The first vehicle and the second vehicle are placed in a relatively fixed position, and the initial coordinate values ​​of each of the electronic positioning tags and the positioning mark points are calibrated based on the first vehicle coordinate system to obtain the initial coordinate matrix V0 of the electronic positioning tags and the coordinate vector A0 of the positioning mark points; S2, real-time acquisition of the coordinate values ​​of each electronic positioning tag When the vehicle is driving, at any time t, the wireless positioning module obtains the coordinate values ​​of each electronic positioning tag in real time and forms a coordinate matrix V t ; S3, solve the transformation matrix Based on the coordinate matrix transformation formula V t =RV0+T Solve the coordinate transformation matrices R and T; Among them, R is the rotation matrix and T is the translation matrix; S4, calculating the real-time coordinate vector A of the positioning mark point t A t =RA0+T。

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