High-precision fusion positioning system and method for station equipment

Abstract

The invention discloses a high-precision fusion positioning system and method for station equipment, and relates to the technical field of station equipment positioning. Comprising a front-end handheld device, an on-site positioning auxiliary device and a control center which are in communication connection in sequence. Wherein the front-end handheld equipment is used for acquiring positioning information of station equipment in real time and transmitting the positioning information to the control center; the field positioning auxiliary equipment is used for assisting the front-end handheld equipment to provide auxiliary positioning information of the station yard equipment and transmitting the auxiliary positioning information to the control center; and the control center is used for performing fusion management on the positioning information and the auxiliary positioning information to realize accurate positioning of the station equipment. The Beidou, UWB, laser, inertial navigation and positioning prism fusion positioning technology is adopted, accurate positioning of station equipment in different environments is achieved, the system performance requirements can be met under different conditions, and safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of station equipment positioning technology, and in particular to a high-precision fusion positioning system and method for station equipment. Background Art

[0002] With the rapid development of technology, high-precision positioning technology in stations is also constantly being updated and upgraded. BeiDou differential positioning, Bluetooth positioning, UWB (Ultra-Wideband) positioning, laser positioning, and LTE (Long Term Evolution) positioning all play important roles in stations.

[0003] In existing technologies, BeiDou differential positioning technology calculates the receiver's precise location information by comparing the signal from the receiver with that of the base station. In stations, this technology can achieve centimeter-level positioning accuracy, providing strong support for train tracking, personnel scheduling, and other applications. Bluetooth positioning technology uses Bluetooth signals for positioning and has advantages such as low power consumption, low cost, and easy deployment. In stations, Bluetooth positioning technology can be used for asset management, personnel tracking, and other scenarios to improve management efficiency. UWB positioning technology features high precision, real-time response, and wide coverage. In stations, UWB positioning technology can achieve functions such as collision avoidance positioning and precise docking, improving safety and operational efficiency. Laser positioning technology enables rapid and high-precision detection of targets. In stations, laser positioning technology can be used for scenarios such as line crossing protection and personnel safety protection, improving station security. Although each technology has its advantages, the above positioning methods have drawbacks such as low positioning accuracy, large errors, and high construction costs in solving the problem of accurate positioning of station equipment, and have significant limitations.

[0004] Therefore, in order to achieve accurate positioning of station equipment under different environments, a high-precision fusion positioning system and method for station equipment is proposed to solve the difficulties of the existing technology, which is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a high-precision fusion positioning system and method for station equipment, which adopts fusion positioning technology of Beidou, UWB, laser, inertial navigation and positioning prism to achieve accurate positioning of station equipment in different environments. It can meet the system performance requirements and ensure safety under different positioning conditions, and has high environmental adaptability and practical application value.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A high-precision fusion positioning system for station equipment includes a front-end handheld device, a field positioning auxiliary device, and a control center, which are sequentially connected in communication.

[0008] The front-end handheld device is used to acquire the location information of the station equipment in real time and transmit the location information to the control center;

[0009] On-site positioning auxiliary equipment is used to assist front-end handheld devices in providing auxiliary positioning information for station equipment and to transmit the auxiliary positioning information to the control center;

[0010] The control center is used to integrate and manage positioning information and auxiliary positioning information to achieve precise positioning of station equipment.

[0011] The above system, optionally, includes a front-end handheld device comprising a BeiDou RTK module, a UWB positioning module, an inertial navigation module, a positioning prism, a ranging module, and a LoRa wireless communication module connected in sequence.

[0012] Beidou RTK module, UWB positioning module and positioning prism are used to acquire various positioning data;

[0013] The inertial navigation module is used to acquire attitude, position, and velocity information of the equipment in the station.

[0014] The Lora wireless communication module is used to transmit location information to the control center;

[0015] The ranging module uses laser ranging to measure the positioning distance between the front-end handheld device and the station equipment.

[0016] The above-mentioned system may optionally include on-site positioning auxiliary equipment, including UWB positioning base stations and total stations;

[0017] Several UWB positioning base stations are deployed in the station positioning area, and a mobile total station is deployed on the station light bridge to assist the front-end handheld device in providing auxiliary positioning information for station equipment.

[0018] Optionally, the control center of the aforementioned system includes a data receiving module and a management terminal connected in sequence.

[0019] The data receiving module is used to receive positioning information and auxiliary positioning information;

[0020] The management terminal is used to fuse location information and auxiliary location information.

[0021] A high-precision fusion positioning method for station equipment, employing any of the above-mentioned high-precision fusion positioning systems for station equipment, includes the following steps:

[0022] Real-time location information of station equipment is obtained based on front-end handheld devices;

[0023] Based on on-site positioning assistance equipment, auxiliary handheld devices at the front end provide auxiliary positioning information for station equipment;

[0024] By integrating and managing positioning information and auxiliary positioning information, precise positioning of station equipment can be achieved.

[0025] Optionally, the above method involves fusion management of positioning information and auxiliary positioning information to achieve precise positioning of station equipment. The specific details are as follows:

[0026] A strapdown algorithm is used to perform strapdown calculation on the positioning information and auxiliary positioning information.

[0027] The location information and auxiliary location information after strapdown calculation are fused to obtain the fused data.

[0028] A centralized Kalman filter is used to filter the fused data and output the positioning information of the station equipment.

[0029] As can be seen from the above technical solution, compared with the prior art, the present invention provides a high-precision fusion positioning system and method for station equipment, which has the following beneficial effects: The present invention adopts Beidou, UWB, laser, inertial navigation and positioning prism fusion positioning technology to achieve accurate positioning of station equipment in different environments. Under different positioning conditions, it can meet the system performance requirements and ensure safety, and has high environmental adaptability and practical application value. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This invention provides a structural block diagram of a high-precision fusion positioning system for station equipment;

[0032] Figure 2 A schematic diagram of the front-end handheld device structure provided by the present invention;

[0033] Figure 3 A flowchart of a high-precision fusion positioning method for station equipment provided by the present invention;

[0034] Figure 4 A schematic diagram of the layout of the on-site positioning auxiliary equipment provided by the present invention. Detailed Implementation

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Reference Figure 1 As shown, this invention discloses a high-precision fusion positioning system for station equipment, comprising a front-end handheld device, a field positioning auxiliary device, and a control center that are sequentially connected in communication; wherein,

[0037] The front-end handheld device is used to acquire the location information of the station equipment in real time and transmit the location information to the control center;

[0038] On-site positioning auxiliary equipment is used to assist front-end handheld devices in providing auxiliary positioning information for station equipment and to transmit the auxiliary positioning information to the control center;

[0039] The control center is used to integrate and manage positioning information and auxiliary positioning information to achieve precise positioning of station equipment.

[0040] Furthermore, such as Figure 2 As shown, the front-end handheld device includes a BeiDou RTK module, a UWB positioning module, an inertial navigation module, a positioning prism, a ranging module, and a LoRa wireless communication module connected in sequence.

[0041] Beidou RTK module, UWB positioning module and positioning prism are used to acquire various positioning data;

[0042] The inertial navigation module is used to acquire attitude, position, and velocity information of the equipment in the station.

[0043] The Lora wireless communication module is used to transmit location information to the control center;

[0044] The ranging module uses laser ranging to measure the positioning distance between the front-end handheld device and the station equipment.

[0045] Specifically, the handheld device also includes a battery pack and an antenna; the handheld device itself is a positioning pen. The handheld device can not only measure its own position but also the positioning distance between itself and the station equipment.

[0046] Specifically, the BeiDou RTK module calculates the receiver's precise location information by comparing the signal from the receiver with that of the base station. In the station environment, it can achieve centimeter-level positioning accuracy, providing strong support for train tracking, personnel scheduling, and other applications.

[0047] UWB positioning modules feature high precision, real-time response, and wide coverage. In stations, UWB positioning modules can achieve functions such as collision avoidance positioning and precise docking, improving safety and operational efficiency.

[0048] The ranging module utilizes laser ranging technology to achieve rapid and high-precision target detection. In the station, the ranging module can be used for scenarios such as line-crossing protection and personnel safety protection. It can also be used to measure the positioning distance between the front-end handheld device and the station equipment, thereby improving the station's security.

[0049] Furthermore, such as Figure 4 As shown, the on-site positioning auxiliary equipment includes a UWB positioning base station and a total station;

[0050] Several UWB positioning base stations are deployed in the station positioning area, and a mobile total station is deployed on the station light bridge to assist the front-end handheld device in providing auxiliary positioning information for station equipment.

[0051] Furthermore, the control center includes a data receiving module and a management terminal connected in sequence;

[0052] The data receiving module is used to receive positioning information and auxiliary positioning information;

[0053] The management terminal is used to fuse location information and auxiliary location information.

[0054] Specifically, the control center uses a Rockchip RK3588 chip processing board and a mobile processing platform based on the Kylin operating system.

[0055] Furthermore, it also includes a communication module, which includes any one or more of 5G and Wi-Fi modules, and can be selected and adjusted according to actual conditions and user needs.

[0056] In one specific embodiment, the following is included:

[0057] The combination of BeiDou positioning and inertial navigation: BeiDou positioning uses RTK differential technology to achieve precise positioning of station equipment. When combined with inertial navigation, the error of the inertial navigation system is filtered by Kalman filter, and then the inertial navigation and BeiDou navigation are fed back for correction. The estimated navigation parameters are fed back to the inertial navigation and BeiDou navigation systems for correction.

[0058] The combination of UWB positioning and inertial navigation provides feedback correction for inertial navigation and UWB, feeding back the estimated navigation parameters to the inertial navigation and UWB systems for correction.

[0059] UWB uses the TOF mode to locate station equipment. Based on the ranging module and positioning prism, it obtains four time differences through three ranging communication operations and further calculates the ranging value.

[0060] Multiple positioning data are acquired, including real-time positioning information and auxiliary positioning information of station equipment. A strapdown algorithm is used to perform strapdown calculation on the positioning information and auxiliary positioning information. The positioning information and auxiliary positioning information after strapdown calculation are fused to obtain fused data. A centralized Kalman filter is used to filter the fused data and output the positioning information of the station equipment.

[0061] and Figure 1 Corresponding to the aforementioned system, this embodiment of the invention also provides a high-precision fusion positioning method for station equipment, the flowchart of which is shown below. Figure 3 As shown, the following steps are included:

[0062] Real-time location information of station equipment is obtained based on front-end handheld devices;

[0063] Based on on-site positioning assistance equipment, auxiliary handheld devices at the front end provide auxiliary positioning information for station equipment;

[0064] By integrating and managing positioning information and auxiliary positioning information, precise positioning of station equipment can be achieved.

[0065] Furthermore, the specific details of integrating and managing positioning information and auxiliary positioning information to achieve precise positioning of station equipment are as follows:

[0066] A strapdown algorithm is used to perform strapdown calculation on the positioning information and auxiliary positioning information.

[0067] The location information and auxiliary location information after strapdown calculation are fused to obtain the fused data.

[0068] A centralized Kalman filter is used to filter the fused data and output the positioning information of the station equipment.

[0069] Specifically, the solution is mainly divided into three parts: the IMU part, the strapdown solution part, and the Kalman filter part.

[0070] The IMU (Inertial Measurement Unit) primarily handles data acquisition and error compensation for gyroscope and accelerometer information. Error compensation is its core function, a key technology for improving the accuracy of inertial navigation systems. Error compensation mainly involves temperature compensation and orthogonal compensation. Temperature compensation aims to reduce the impact of instrument bias and scale factor errors on system accuracy. Orthogonal compensation primarily compensates for installation error angles of the instruments. The accuracy of inertial components in an inertial system is mainly related to ambient temperature, temperature gradient, and rate of temperature change. Ambient temperature not only causes temperature errors in the gyroscope and accelerometer bias but also leads to temperature errors in the accelerometer's scale factor.

[0071] The core of the strapdown inertial navigation system (INS) algorithm is the attitude update algorithm, which is the decisive factor in whether the INS can function properly. Due to the non-commutative nature of the finite rotation of a rigid body, traditional attitude update algorithms inevitably introduce non-commutative errors. These errors can be significant, especially when the carrier is in a highly dynamic environment, and effective measures must be taken to overcome them.

[0072] A centralized Kalman filter method is used for data fusion, and the accuracy of the system is improved by passing the data through a centralized Kalman filter.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the methods disclosed in the embodiments, since they correspond to the systems in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the system section description.

[0074] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-precision fusion positioning system for station equipment, characterized in that, This includes a front-end handheld device, a field positioning auxiliary device, and a control center, which are connected in sequence; among them, The front-end handheld device is used to acquire the location information of the station equipment in real time and transmit the location information to the control center; On-site positioning auxiliary equipment is used to assist front-end handheld devices in providing auxiliary positioning information for station equipment and to transmit the auxiliary positioning information to the control center; The control center is used to integrate and manage positioning information and auxiliary positioning information to achieve precise positioning of station equipment.

2. The high-precision fusion positioning system for station equipment according to claim 1, characterized in that, The front-end handheld device includes a BeiDou RTK module, a UWB positioning module, an inertial navigation module, a positioning prism, a ranging module, and a LoRa wireless communication module connected in sequence. Beidou RTK module, UWB positioning module and positioning prism are used to acquire various positioning data; The inertial navigation module is used to acquire attitude, position, and velocity information of the equipment in the station. The Lora wireless communication module is used to transmit location information to the control center; The ranging module uses laser ranging to measure the positioning distance between the front-end handheld device and the station equipment.

3. The high-precision fusion positioning system for station equipment according to claim 1, characterized in that, On-site positioning auxiliary equipment, including UWB positioning base stations and total stations; Several UWB positioning base stations are deployed in the station positioning area, and a mobile total station is deployed on the station light bridge to assist the front-end handheld device in providing auxiliary positioning information for station equipment.

4. The high-precision fusion positioning system for station equipment according to claim 1, characterized in that, The control center includes a data receiving module and a management terminal connected in sequence; The data receiving module is used to receive positioning information and auxiliary positioning information; The management terminal is used to fuse location information and auxiliary location information.

5. A high-precision fusion positioning method for station equipment, characterized in that, The application of the high-precision fusion positioning system for station equipment according to any one of claims 1-4 includes the following steps: Real-time location information of station equipment is obtained based on front-end handheld devices; Based on on-site positioning assistance equipment, auxiliary handheld devices at the front end provide auxiliary positioning information for station equipment; By integrating and managing positioning information and auxiliary positioning information, precise positioning of station equipment can be achieved.

6. The high-precision fusion positioning method for station equipment according to claim 5, characterized in that, The specific content of integrating and managing positioning information and auxiliary positioning information to achieve precise positioning of station equipment is as follows: A strapdown algorithm is used to perform strapdown calculation on the positioning information and auxiliary positioning information. The location information and auxiliary location information after strapdown calculation are fused to obtain the fused data. A centralized Kalman filter is used to filter the fused data and output the positioning information of the station equipment.

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