Seamless switching positioning method and device

Abstract

The invention provides a seamless switching positioning method and device, and the method comprises the steps: 1, setting a base station which is provided with a UWB base station and an RTK base station based on a GNSS, and placing a mobile carrier at an unshielded position; step 2, acquiring initial positioning information of the mobile carrier through an RTK base station based on a GNSS (Global Navigation Satellite System); step 3, acquiring current state information and positioning information of the mobile carrier at an interval time delta t, and judging whether the mobile carrier is currently in a shielding position or not according to the state information: when judging that the mobile carrier is currently in a non-shielding position, acquiring the current positioning information of the mobile carrier; and when it is judged that the mobile carrier is at the shielding position currently, switching to obtain the distance value between the UWB base station and the mobile carrier through the UWB base station, obtaining the speed value of the mobile carrier at the current moment, and calculating the positioning information of the mobile carrier at the current moment by combining the positioning information at the previous moment. According to the invention, seamless switching and high-precision positioning of the mobile carrier can be realized, the use cost is low, and the navigation time is long.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning and navigation, and more specifically to a seamless switching positioning method and device. Background Art

[0002] At present, in outdoor obstructed environments, the positioning solutions for automatic lawn mowers, unmanned forklifts, snow-clearing robots, patrol robots and other equipment basically use GNSS / INS combined navigation technology based on GNSS satellite positioning technology and INS inertial navigation technology. However, the existing GNSS / INS combined navigation technology has two shortcomings: 1. Each time the machine is turned on, there is an automatic alignment process, which requires the carrier to make turns, go straight, and other movements to match the host IMU module status with the carrier's position and attitude information. From the user's perspective, this process is time-consuming and the experience is not good.

[0003] 2. The GNSS / INS integrated navigation technology is divided into two categories: loose coupling scheme and tight coupling scheme. The advantages and disadvantages of these two schemes are as follows: (1) Loosely coupled solution: using a low-priced IMU module, the satellite positioning GNSS module and the IMU module work independently physically. Although this solution can save costs, the actual positioning accuracy is not high, the cumulative error is large, and it is impossible to maintain positioning and heading accuracy for a long time in an obstructed environment.

[0004] (2) Tightly coupled solution: Use an IMU module with higher accuracy but higher cost, and physically link the satellite positioning GNSS module and the IMU module to each other for feedback data. Although this solution guarantees positioning and heading angle accuracy, the cost is too high. Currently, it is only suitable for large commercial robot products, and is not suitable for household appliances such as automatic lawn mowers, weeding robots, snow removal robots, unmanned forklifts, and patrol robots.

[0005] Therefore, how to seamlessly switch positioning in outdoor obstructed environments, achieve low cost, long-term use and high-precision positioning, and be suitable for home use of automatic lawn mowers, snow-clearing robots, unmanned forklifts, patrol robots and other household appliances, is a technical problem that needs to be urgently solved in this field. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a seamless switching positioning method and device. The present invention can realize seamless switching of high-precision positioning of a mobile carrier in an outdoor shielded environment, and has low cost and long navigation time. It is particularly suitable for household appliances such as automatic lawn mowers, snow-clearing robots, unmanned forklifts and patrol robots for home use.

[0007] In order to achieve the above object, the present invention is implemented by the following technical scheme: a seamless switching positioning method, characterized in that it includes the following steps: Step 1: Set up a base station with a UWB base station and a GNSS-based RTK base station, and place the mobile carrier in an unobstructed position; Step 2: Start the mobile carrier and obtain the initial positioning information of the mobile carrier through the RTK base station based on GNSS; Step 3: Obtain the current status information and positioning information of the mobile carrier at intervals of time Δt, and determine whether the mobile carrier is currently in a blocked position based on the status information: When it is determined that the mobile carrier is currently in an unobstructed position, the current positioning information of the mobile carrier is obtained through a RTK base station based on GNSS; When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the distance value between the UWB base station and the mobile carrier, as well as the speed value of the mobile carrier at the current moment, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment; Step 4, the current positioning information of the mobile carrier is assigned as the positioning information of the previous moment, and the process returns to step 3; when the mobile carrier stops working information is received, the positioning is stopped.

[0008] In the above scheme, household appliances such as automatic lawn mowers, lawn mower robots, snow sweepers, unmanned forklifts and patrol robots can achieve precise positioning through GNSS satellite positioning technology when working outdoors. When the mobile carrier drives into an obstructed environment, it seamlessly switches to the UWB base station and achieves high-precision positioning through calculation. This seamless switching positioning method has low cost and long navigation time, and is very suitable for home use.

[0009] In step 2, obtaining the initial positioning information of the mobile carrier through the RTK base station based on GNSS means: converting the longitude and latitude coordinate systems of the base station and the mobile carrier into a plane direct coordinate system, and taking the base station position as the coordinate origin; A variable t0_mower_state is set at the initial time t0 to store initial positioning information, wherein the initial positioning information includes: the X-axis coordinate X0 of the mobile carrier at time t0, the Y-axis coordinate Y0 of the mobile carrier at time t0, the speed v0 of the mobile carrier at time t0, and the heading angle H0 of the mobile carrier at time t0.

[0010] In step three, judging whether the mobile carrier is currently in an obstructed position through status information means: when the positioning status information output by the GNSS-based RTK base station is "fixed solution", it is judged that the mobile carrier is currently in an unobstructed position; when the positioning status information output by the GNSS-based RTK base station is "estimated solution", it is judged that the mobile carrier is currently in an obstructed position.

[0011] In step 3, when it is determined that the mobile carrier is currently in an unobstructed position, obtaining the current positioning information of the mobile carrier through the RTK base station based on GNSS means: when it is determined that the mobile carrier is currently in an unobstructed position, setting the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

[0012] In step 3, when it is determined that the mobile carrier is currently in an obstructed position, the distance value to the mobile carrier and the speed value of the mobile carrier are obtained through the UWB base station, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment: When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the interval time Δt between the UWB base station and the mobile carrier. n Time distance value d n , and the t of the mobile carrier when the interval time Δt is obtained from the host computer n Time speed v n ; and combined with t n-1 The positioning information at time t is calculated to obtain the mobile carrier from n-1 Time to t n The distance L traveled by the mobile carrier at any moment n , and the current t n Positioning information of the mobile carrier at all times: t n-1 Time location information: t n-1 The X-axis coordinate X of the moving carrier at the moment n-1 ,t n-1 The Y-axis coordinate Y of the moving carrier at the moment n-1 ,t n-1 The speed v of the moving carrier at any moment n-1 and t n-1 The heading angle H of the moving carrier at any moment n-1 ; With the base station location as the center, t n Time distance value d n As the radius, the obtained circle is n-1 The position of the moving carrier at any moment (X n-1 , Y n-1 ) as the center of the circle, the moving carrier is n-1 Time to t n The distance L traveled by the mobile carrier at any moment n The radius is the obtained circle 2; the intersection of circle 1 and circle 2 is t n The position of the moving carrier at any moment (X n , Y n ), and according to t n The position of the moving carrier at any moment (X n , Y n ) Calculate t n The heading angle H of the moving carrier at any moment n ; Set the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

[0013] Current t n The positioning information of the mobile carrier at any moment is calculated as follows:

[0014] When the equation has no solution, that is, circle 1 and circle 2 have no intersection, then t n Time distance value d n Get md n , zoom in n value, find a unique solution; where m is an integer and m>1.

[0015] In step 4, the variable t n _mower_state is uploaded to the host computer, and the variable tn _mower_state is assigned to t n-1 _mower_state, wait for the next time interval Δt to arrive, and enter step 3 to continue the loop.

[0016] A seamless switching positioning device, characterized in that: it comprises a base station and a positioning data processing device, the positioning data processing device is arranged on a mobile carrier and connected to an external host computer; The base station comprises: GNSS-based RTK base station, used to send status information and positioning information of mobile carriers; UWB base station, used to send the distance between the mobile carrier and the UWB base station; The positioning data processing device comprises: GNSS-based RTK high-precision positioning mobile station, used to receive status information and positioning information of the mobile carrier; UWB mobile tag station, used to output tag information and receive the distance between the mobile carrier and the UWB base station; and a positioning correction processing module, as a control module of the mobile carrier, for transmitting the status information and positioning information of the mobile carrier and the distance between the mobile carrier and the UWB base station to the host computer, and receiving control signals from the host computer; The GNSS-based RTK base station is wirelessly connected to the GNSS-based RTK high-precision positioning mobile station, and the UWB base station is wirelessly connected to the UWB mobile tag station; the GNSS-based RTK high-precision positioning mobile station and the UWB mobile tag station are respectively connected to the positioning correction processing module, and the positioning correction processing module is connected to an external host computer.

[0017] The GNSS-based RTK base station and the GNSS-based RTK high-precision positioning mobile station both include a GNSS high-precision antenna, a GNSS high-precision positioning module, a wireless transmission module and a wireless transceiver antenna; In the GNSS-based RTK base station, the GNSS high-precision antenna, the GNSS high-precision positioning module, the wireless transmission module and the wireless transceiver antenna are connected in sequence; In the RTK high-precision positioning mobile station based on GNSS, the GNSS high-precision antenna is connected to the GNSS high-precision positioning module; the wireless transceiver antenna is connected to the GNSS high-precision positioning module through the wireless transmission module, and the GNSS high-precision positioning module is connected to the positioning correction processing module.

[0018] The UWB base station includes a UWB transceiver antenna and a UWB module connected to each other; The UWB mobile tag station comprises a UWB transceiver antenna and a UWB tag module which are connected to each other, and the UWB tag module is connected to a positioning correction processing module.

[0019] The advantages of the seamless switching positioning method of the present invention are: 1. The present invention adopts a method based on GNSS satellite positioning technology and single UWB base station joint positioning. The cost of this method is lower than that of the GNSS+IMU tightly coupled solution.

[0020] 2. The present invention installs low-cost UWB transceiver antennas and UWB tag modules on mobile carriers, and the base station has the advantage of being able to serve multiple mobile carriers at the same time. Therefore, when the application scenario is 1+N (1 base station, N mobile carriers), the method of the present invention has great cost advantages.

[0021] For example, the application scenario is a working scenario of 1 base station and 2 mobile carriers (such as lawn mowing robots). The present invention can be applied to the weeding scenario of large lawns to replace traditional commercial lawn mowers, and the total cost of 1 base station + 2 mobile carriers (such as automatic lawn mowers) is only 1 / 5 of that of 1 commercial lawn mower.

[0022] For example, the application scenario is 1 base station and various outdoor automated machine application scenarios (automatic snowplows, snowplow robots and patrol robots, etc.). As various applications in the courtyard develop towards intelligence and unmanned operations, the present invention uses a method based on GNSS satellite positioning technology and a single UWB base station joint positioning method, which can be popularized in families with outdoor courtyards. In the future, all kinds of courtyard automated machines can directly obtain high-precision positioning as long as they adopt the method of the present invention.

[0023] Compared with the prior art, the present invention has the following advantages and beneficial effects: the seamless switching positioning method and device of the present invention can realize seamless switching of high-precision positioning of a mobile carrier in an outdoor shielded environment, and has low cost of use and long navigation time, and is particularly suitable for household appliances such as automatic lawn mowers, snow-clearing robots, unmanned forklifts and patrol robots for home use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of the positioning method for seamless switching of the present invention; Figure 2 It is a schematic diagram of positioning calculation when a mobile carrier is in an obstructed position in the positioning method for seamless switching of the present invention; Figure 3 The mobile carrier is a working scene diagram of a weeding robot; Figure 4 The mobile carrier is a working scene diagram of a snow-clearing robot and a patrol robot; Figure 5 is a schematic diagram of a positioning device for seamless switching of the present invention; Among them, 1 is a base station, 1-1 is a GNSS high-precision antenna, 1-2 is a GNSS high-precision positioning module, 1-3 is a wireless transmission module, 1-4 is a wireless transceiver antenna, 1-5 is a UWB transceiver antenna, 1-6 is a UWB module, 2 is a positioning data processing device, 2-7 is a positioning correction processing module, 2-1 is a GNSS high-precision antenna, 2-2 is a GNSS high-precision positioning module, 2-3 is a wireless transmission module, 2-4 is a wireless transceiver antenna, 2-5 is a UWB transceiver antenna, 2-6 is a UWB tag module, and 2-7 is a positioning correction processing module. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0026] Embodiment 1 like Figures 1 to 4 As shown, the positioning method for seamless switching of the present invention comprises the following steps: Step 1: Set up a base station with a UWB base station and a GNSS-based RTK base station, and place the mobile carrier in an unobstructed position; Step 2: Start the mobile carrier and obtain the initial positioning information of the mobile carrier through the RTK base station based on GNSS; Step 3: Obtain the current status information and positioning information of the mobile carrier at intervals of time Δt, and determine whether the mobile carrier is currently in a blocked position based on the status information: When it is determined that the mobile carrier is currently in an unobstructed position, the current positioning information of the mobile carrier is obtained through a RTK base station based on GNSS; When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the distance value between the UWB base station and the mobile carrier, as well as the speed value of the mobile carrier at the current moment, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment; Step 4, the current positioning information of the mobile carrier is assigned as the positioning information of the previous moment, and the process returns to step 3; when the mobile carrier stops working information is received, the positioning is stopped.

[0027] Specifically, in step 2, obtaining the initial positioning information of the initial mobile carrier through the RTK base station based on GNSS means: converting the latitude and longitude coordinate systems of the base station and the mobile carrier into a plane direct coordinate system, and setting the base station position as the coordinate origin; A variable t0_mower_state is set at the initial time t0 to store initial positioning information, wherein the initial positioning information includes: the X-axis coordinate X0 of the mobile carrier at time t0, the Y-axis coordinate Y0 of the mobile carrier at time t0, the speed v0 of the mobile carrier at time t0, and the heading angle H0 of the mobile carrier at time t0.

[0028] In step three, judging whether the mobile carrier is currently in an obstructed position through status information means: when the positioning status information output by the GNSS-based RTK base station is "fixed solution", it is judged that the mobile carrier is currently in an unobstructed position; when the positioning status information output by the GNSS-based RTK base station is "estimated solution", it is judged that the mobile carrier is currently in an obstructed position.

[0029] In step 3, when it is determined that the mobile carrier is currently in an unobstructed position, obtaining the current positioning information of the mobile carrier through the RTK base station based on GNSS means: when it is determined that the mobile carrier is currently in an unobstructed position, setting the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

[0030] In step 3, when it is determined that the mobile carrier is currently in an obstructed position, the distance value to the mobile carrier and the speed value of the mobile carrier are obtained through the UWB base station, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment: When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the interval time Δt between the UWB base station and the mobile carrier. n Time distance value d n , and the t of the mobile carrier when the interval time Δt is obtained from the host computer n Time speed v n ; and combined with t n-1 The positioning information at time t is calculated to obtain the mobile carrier from n-1 Time to t n The distance L traveled by the mobile carrier at any moment n , and the current t n Positioning information of the mobile carrier at all times: t n-1 Time location information: t n-1The X-axis coordinate X of the moving carrier at the moment n-1 ,t n-1 The Y-axis coordinate Y of the moving carrier at the moment n-1 ,t n-1 The speed v of the moving carrier at any moment n-1 and t n-1 The heading angle H of the moving carrier at any moment n-1 ; like Figure 2 As shown, with the base station location as the center, t n Time distance value d n As the radius, the obtained circle is n-1 The position of the moving carrier at any moment (X n-1 , Y n-1 ) as the center of the circle, the moving carrier is n-1 Time to t n The distance L traveled by the mobile carrier at any moment n The radius is the obtained circle 2; the intersection of circle 1 and circle 2 is t n The position of the moving carrier at any moment (X n , Y n ), and according to t n The position of the moving carrier at any moment (X n , Y n ) Calculate t n The heading angle H of the moving carrier at any moment n ; Set the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

[0031] Current t n The positioning information of the mobile carrier at any moment is calculated as follows:

[0032] When there are two intersection points between circle 1 and circle 2, the unique coordinate value can be determined by formula ⑤. When the equation has no solution, that is, circle 1 and circle 2 have no intersection point, then t n Time distance value d n Get md n , zoom in n value, find a unique solution; where m is an integer and m>1.

[0033] In step 4, the variable t n _mower_state is uploaded to the host computer, and the variable t n _mower_state is assigned to t n-1 _mower_state, wait for the next time interval Δt to arrive, and enter step 3 to continue the loop.

[0034] Household devices (mobile carriers) such as automatic lawn mowers, snow sweepers, unmanned forklifts and patrol robots can achieve precise positioning through GNSS satellite positioning technology when working outdoors. When the mobile carrier drives into an obstructed environment, it seamlessly switches to the UWB base station and achieves high-precision positioning through calculation. This seamless switching positioning method has low cost and long navigation time, and is very suitable for home use.

[0035] The advantages of the seamless switching positioning method of the present invention are: 1. The present invention adopts a method based on GNSS satellite positioning technology and single UWB base station joint positioning. The cost of this method is lower than that of the GNSS+IMU tightly coupled solution.

[0036] 2. The present invention installs low-cost UWB transceiver antennas and UWB tag modules on mobile carriers, and the base station has the advantage of being able to serve multiple mobile carriers at the same time. Therefore, when the application scenario is 1+N (1 base station, N mobile carriers), the method of the present invention has great cost advantages.

[0037] like Figure 3 As shown, for example, the application scenario is a working scenario of 1 base station and 2 mobile carrier weeding robots. The present invention can be applied to weeding scenarios of large lawns to replace traditional commercial lawn mowers, and the total cost of 1 base station + 2 mobile carrier weeding robots is only 1 / 5 of that of 1 commercial lawn mower.

[0038] like Figure 4As shown, for example, the application scenario is 1 base station and various outdoor automation machine application scenarios, and the mobile carriers are snow sweeping robots and patrol robots. As various applications in the courtyard develop towards intelligence and unmanned operation, the method based on GNSS satellite positioning technology and single UWB base station joint positioning of the present invention can be popularized in families with outdoor courtyards. In the future, various types of courtyard automation machines can directly obtain high-precision positioning as long as the method of the present invention is adopted.

[0039] Embodiment 2 like Figure 5 As shown, the positioning device for seamless switching of the present invention in this embodiment includes a base station 1 and a positioning data processing device 2, wherein the positioning data processing device 2 is arranged on a mobile carrier and connected to an external host computer; Among them, base station 1 includes: a GNSS-based RTK base station for sending status information and positioning information of a mobile carrier; the GNSS-based RTK base station includes a GNSS high-precision antenna 1-1, a GNSS high-precision positioning module 1-2, a wireless transmission module 1-3 and a wireless transceiver antenna 1-4 connected in sequence.

[0040] The UWB base station is used to send the distance between the mobile carrier and the UWB base station; the UWB base station includes UWB transceiver antennas 1-5 and UWB modules 1-6 that are connected to each other.

[0041] The positioning data processing device 2 comprises: The positioning correction processing module 2-7, as a control module of the mobile carrier, is used to transmit the status information and positioning information of the mobile carrier, and the distance between the mobile carrier and the UWB base station to the host computer, and receive the control signal of the host computer.

[0042] The RTK high-precision positioning mobile station based on GNSS is used to receive the status information and positioning information of the mobile carrier; the RTK base station based on GNSS includes a GNSS high-precision antenna 2-1, a GNSS high-precision positioning module 2-2, a wireless transmission module 2-3 and a wireless transceiver antenna 2-4, wherein the GNSS high-precision antenna 2-1 is connected to the GNSS high-precision positioning module 2-2; the wireless transceiver antenna 2-4 is connected to the GNSS high-precision positioning module 2-2 through the wireless transmission module 2-3, and the GNSS high-precision positioning module 2-2 is connected to the positioning correction processing module 2-7.

[0043] And a UWB mobile tag station, used for outputting tag information and receiving the distance between the mobile carrier and the UWB base station; the UWB mobile tag station includes a UWB transceiver antenna 2-5 and a UWB tag module 2-6 connected to each other, and the UWB tag module 2-6 is connected to the positioning correction processing module 2-7.

[0044] Specifically, the GNSS-based RTK base station is wirelessly connected to the GNSS-based RTK high-precision positioning mobile station, the UWB base station is wirelessly connected to the UWB mobile tag station, the GNSS-based RTK high-precision positioning mobile station and the UWB mobile tag station are respectively connected to the positioning correction processing module 2-7, and the positioning correction processing module 2-7 is connected to the external host computer.

[0045] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A seamless switching positioning method, characterized in that: The following steps are involved: Step 1: Set up a base station with a UWB base station and a GNSS-based RTK base station, and place the mobile carrier in an unobstructed position; Step 2: Start the mobile carrier and obtain the initial positioning information of the mobile carrier through the RTK base station based on GNSS; Step 3: Obtain the current status information and positioning information of the mobile carrier at intervals of time Δt, and determine whether the mobile carrier is currently in a blocked position based on the status information: When it is determined that the mobile carrier is currently in an unobstructed position, the current positioning information of the mobile carrier is obtained through a RTK base station based on GNSS; When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the distance value between the UWB base station and the mobile carrier, as well as the speed value of the mobile carrier at the current moment, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment; Step 4, the current positioning information of the mobile carrier is assigned as the positioning information of the previous moment, and the process returns to step 3; when the mobile carrier stops working information is received, the positioning is stopped.

2. The seamless switching positioning method according to claim 1, characterized in that: In step 2, obtaining the initial positioning information of the mobile carrier through the RTK base station based on GNSS means: converting the longitude and latitude coordinate systems of the base station and the mobile carrier into a plane direct coordinate system, and taking the base station position as the coordinate origin; A variable t0_mower_state is set at the initial time t0 to store initial positioning information, wherein the initial positioning information includes: the X-axis coordinate X0 of the mobile carrier at time t0, the Y-axis coordinate Y0 of the mobile carrier at time t0, the speed v0 of the mobile carrier at time t0, and the heading angle H0 of the mobile carrier at time t0.

3. The seamless switching positioning method according to claim 1, characterized in that: In step three, judging whether the mobile carrier is currently in an obstructed position through status information means: when the positioning status information output by the RTK base station based on GNSS is "fixed solution", it is judged that the mobile carrier is currently in an unobstructed position; when the positioning status information output by the RTK base station based on GNSS is "estimated solution", it is judged that the mobile carrier is currently in an obstructed position.

4. The seamless switching positioning method according to claim 2, characterized in that: In step 3, when it is determined that the mobile carrier is currently in an unobstructed position, obtaining the current positioning information of the mobile carrier through the RTK base station based on GNSS means: when it is determined that the mobile carrier is currently in an unobstructed position, setting the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

5. The seamless switching positioning method according to claim 2, characterized in that: In step 3, when it is determined that the mobile carrier is currently in an obstructed position, the distance value to the mobile carrier and the speed value of the mobile carrier are obtained through the UWB base station, and the positioning information of the mobile carrier at the current moment is calculated in combination with the positioning information at the previous moment: When it is determined that the mobile carrier is currently in an obstructed position, the UWB base station is switched to obtain the interval time Δt between the UWB base station and the mobile carrier. n Time distance value d n , and the t of the mobile carrier when the interval time Δt is obtained from the host computer n Time speed v n ; and combined with t n-1 The positioning information at time t is calculated to obtain the mobile carrier from n-1 Time to t n The distance L traveled by the mobile carrier at any moment n , and the current t n Positioning information of mobile carrier at all times: t n-1 Time location information: t n-1 The X-axis coordinate X of the moving carrier at the moment n-1 ,t n-1 The Y-axis coordinate Y of the moving carrier at the moment n-1 ,t n-1 The speed v of the moving carrier at any moment n-1 and t n-1 The heading angle H of the moving carrier at any moment n-1 ; With the base station location as the center, t n Time distance value d n As the radius, the obtained circle is n-1 The position of the moving carrier at any moment (X n-1 , Y n-1 ) as the center of the circle, the moving carrier is n-1 Time to t n The distance L traveled by the mobile carrier at any moment n The radius is the obtained circle 2; the intersection of circle 1 and circle 2 is t n The position of the moving carrier at any moment (X n , Y n ), and according to t n The position of the moving carrier at any moment (X n , Y n ) Calculate t n The heading angle H of the moving carrier at any moment n ; Set the variable t n _mower_state stores the t of the moving carrier at interval Δt n Time location information, time t n and t n Positioning status at the moment; n The real-time positioning information includes: n The X-axis coordinate X of the moving carrier at the moment n ,t n The Y-axis coordinate Y of the moving carrier at the moment n ,t n The speed v of the moving carrier at any moment n and t n The heading angle H of the moving carrier at any moment n ; where t n = t n-1 +Δt, n is an integer and n≥1.

6. The seamless switching positioning method according to claim 5, characterized in that: Current t n The positioning information of the mobile carrier at any moment is calculated as follows: When the equation has no solution, that is, circle 1 and circle 2 have no intersection, then t n Time distance value d n Get md n , zoom in n value, find a unique solution; where m is an integer and m>1.

7. The seamless switching positioning method according to claim 1, characterized in that: In step 4, the variable t n _mower_state is uploaded to the host computer, and the variable t n _mower_state is assigned to t n-1 _mower_state, wait for the next time interval Δt to arrive, and enter step 3 to continue the loop.

8. A seamless switching positioning device, characterized in that: It includes a base station and a positioning data processing device, wherein the positioning data processing device is arranged on a mobile carrier and connected to an external host computer; The base station comprises: GNSS-based RTK base station, used to send status information and positioning information of mobile carriers; UWB base station, used to send the distance between the mobile carrier and the UWB base station; The positioning data processing device comprises: GNSS-based RTK high-precision positioning mobile station, used to receive status information and positioning information of the mobile carrier; UWB mobile tag station, used to output tag information and receive the distance between the mobile carrier and the UWB base station; and a positioning correction processing module, as a control module of the mobile carrier, for transmitting the status information and positioning information of the mobile carrier and the distance between the mobile carrier and the UWB base station to the host computer, and receiving control signals from the host computer; The GNSS-based RTK base station is wirelessly connected to the GNSS-based RTK high-precision positioning mobile station, and the UWB base station is wirelessly connected to the UWB mobile tag station; the GNSS-based RTK high-precision positioning mobile station and the UWB mobile tag station are respectively connected to the positioning correction processing module, and the positioning correction processing module is connected to an external host computer.

9. The seamless switching positioning device according to claim 8, characterized in that: The GNSS-based RTK base station and the GNSS-based RTK high-precision positioning mobile station both include a GNSS high-precision antenna, a GNSS high-precision positioning module, a wireless transmission module and a wireless transceiver antenna; In the GNSS-based RTK base station, the GNSS high-precision antenna, the GNSS high-precision positioning module, the wireless transmission module and the wireless transceiver antenna are connected in sequence; In the RTK high-precision positioning mobile station based on GNSS, the GNSS high-precision antenna is connected to the GNSS high-precision positioning module; the wireless transceiver antenna is connected to the GNSS high-precision positioning module through the wireless transmission module, and the GNSS high-precision positioning module is connected to the positioning correction processing module.

10. The seamless switching positioning device according to claim 8, characterized in that: The UWB base station includes a UWB transceiver antenna and a UWB module connected to each other; The UWB mobile tag station comprises a UWB transceiver antenna and a UWB tag module which are connected to each other, and the UWB tag module is connected to a positioning correction processing module.

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