Multi-antenna cooperative positioning method and system for mobile square cabin

Abstract

The invention discloses a multi-antenna cooperative positioning method and system for a mobile square cabin, and relates to the technical field of high-precision positioning, and the method comprises the steps: defining a key positioning point on the mobile square cabin according to a preset positioning antenna type, respectively arranging a first type of antenna and a second type of antenna, and forming two types of antenna arrays; acquiring the initial position information of the shelter by using a first type antenna array, and driving the hoisting device to move to an approaching position; and after approaching, relative position information between the hoisting device and the square cabin is obtained through a second type antenna array, the hoisting device is controlled to accurately move to a target hoisting position according to the relative position information, and hoisting positioning is completed. And therefore, the technical effects of improving the hoisting precision and reliability and improving the safety of the contents are achieved.

Description

Technical Field

[0001] This invention relates to the field of high-precision positioning technology, and in particular to a multi-antenna cooperative positioning method and system for mobile shelters. Background Technology

[0002] In the hoisting and positioning of mobile modular shelters, existing positioning methods typically rely solely on vision or a single type of positioning antenna to determine the location of the mobile shelter, enabling the hoisting device to position it correctly. For example, some methods use only a satellite-based positioning antenna or only a ground-based base station-based antenna to acquire location information and perform the hoisting operation.

[0003] This method, which relies solely on a single type of positioning antenna, has several shortcomings. Firstly, in complex operating environments, such as those with signal obstruction, multipath effects, or electromagnetic interference, the accuracy of the acquired positional information is limited, making it difficult to meet the high-precision positioning requirements of mobile shelters. This can easily lead to inaccurate positioning of the lifting device, affecting lifting efficiency and even causing safety hazards. Secondly, the reliability of a single type of positioning antenna is also lacking. If this type of antenna malfunctions or experiences signal abnormalities, the entire lifting and positioning system will malfunction, failing to guarantee a smooth lifting process and making it difficult to adapt to the needs of mobile shelters in various complex operating scenarios. Summary of the Invention

[0004] This invention provides a multi-antenna cooperative positioning method and system for mobile shelters to solve the technical problems of poor hoisting accuracy and reliability in the prior art, which affect the safety of the contents of mobile shelters, and achieve the technical effects of improving hoisting accuracy and reliability and improving the safety of the contents.

[0005] In a first aspect, the present invention provides a multi-antenna cooperative positioning method for a mobile shelter, wherein the multi-antenna cooperative positioning method for a mobile shelter includes: Based on the preset positioning antenna type information, a set of key positioning points is defined on the mobile cabin.

[0006] Based on the set of key positioning points, a first type of positioning antenna and a second type of positioning antenna are deployed to form a first type of antenna array and a second type of antenna array.

[0007] The initial position information of the mobile cabin is obtained through the first type of antenna array, and the hoisting device is driven to move to the approach position based on the initial position information.

[0008] After moving to the approach position, the relative position information between the hoisting device and the mobile container is obtained based on the second type of antenna array, and the hoisting device is controlled to move to the target hoisting position according to the relative position information to complete the hoisting and positioning.

[0009] In one feasible implementation, a set of key positioning points is defined on the mobile cabin based on preset positioning antenna type information. The set of key positioning points includes a first type of key positioning points located at the four corners of the mobile cabin and a second type of key positioning points located at equal intervals on the top surface of the mobile cabin.

[0010] In one feasible implementation, a first type of positioning antenna and a second type of positioning antenna are deployed according to the set of key positioning points to form a first type of antenna array and a second type of antenna array, including: Traverse the first type of key positioning points, set up the first type of positioning antenna based on GNSS-RTK and initialize the position, and obtain the first type of antenna array.

[0011] Based on the preset selection rules, the second type of key positioning points are traversed to extract points until the number of extracted points meets the preset point threshold, and then the candidate second type of point set is output.

[0012] Based on the two candidate point sets, RFID-based patch transponder antennas are deployed on the top surface of the mobile cabin to obtain the second type of antenna array.

[0013] In one feasible implementation, the initial position information of the mobile container is obtained through the first type of antenna array, and the hoisting device is driven to move to the approach position based on the initial position information, including: A first positioning antenna is randomly selected from the first type of antenna array.

[0014] The first positioning antenna and the base station antenna of the target scene are activated to receive satellite carrier signals and calculate carrier phase difference information.

[0015] Based on the carrier phase difference information, the first initial position information is calculated in real time using the RTK algorithm, and the first type of antenna array is traversed to perform position calculations to generate the initial position information.

[0016] Based on the initial position information, path planning is performed, the path planning result is converted into path control commands, and transmitted to the drive lifting device for movement control.

[0017] In one feasible implementation, after moving to the approach position, the relative position information between the hoisting device and the mobile container is obtained based on the second type of antenna array, including: Establish a short-range wireless communication link between the second type of antenna array and the hoisting device.

[0018] The beacon tag mounted on the hoisting device interacts with the second type of antenna array in real time to collect and form a second antenna signal set, wherein the beacon tag is a short-range wireless positioning tag.

[0019] The second antenna signal set is analyzed, a distance model is constructed based on the signal strength, and the second distance information set is calculated and obtained.

[0020] Based on the second distance information set, multi-point constraint solution is performed to determine the relative spatial position of the hoisting device relative to the mobile cabin, and the relative position information is generated.

[0021] In one feasible implementation, controlling the lifting device to the target lifting position based on the relative position information to complete the lifting and positioning includes: The relative position information is fed back to the hoisting device, and the step error is estimated according to the preset approach control step size.

[0022] By combining the path planning algorithm with the step error estimation results, a step control path is generated and a step control command is output.

[0023] The lifting device is controlled by step control commands, and the relative position information is updated iteratively until the set positioning criteria are met.

[0024] In one feasible implementation, the positioning criterion includes: First positioning criterion: The antennas in the second type of antenna array receive signals that meet the signal-to-noise ratio requirements at a predetermined ratio.

[0025] The second positioning criterion is that the mean square error of the signal strength and the average distance calculated based on the second antenna signal set both meet the preset threshold conditions.

[0026] When either the first or the second set positioning criterion is satisfied, the positioning is determined to be complete.

[0027] In one feasible implementation, the first type of positioning antenna further includes a UWB communication antenna disposed on the upper surface of the mobile cabin.

[0028] During the process of the hoisting device moving to the approach position, the UWB communication antenna is activated to collect intermediate positioning data in real time.

[0029] The intermediate positioning data is fused with the path planning results to generate corrected path information, and dynamic compensation control is performed based on the corrected path information.

[0030] In one feasible implementation, the approach control step size adopts an adaptive adjustment strategy, dynamically adjusting the approach control step size value based on the real-time relative position information.

[0031] Secondly, the present invention also provides a multi-antenna cooperative positioning system for a mobile shelter, wherein the multi-antenna cooperative positioning system for a mobile shelter includes: The positioning point definition module is used to define a set of key positioning points on the mobile cabin based on preset positioning antenna type information.

[0032] The antenna array deployment module is used to deploy a first type of positioning antenna and a second type of positioning antenna according to the set of key positioning points, forming a first type of antenna array and a second type of antenna array.

[0033] The approach drive module is used to acquire the initial position information of the mobile cabin through the first type of antenna array, and drive the hoisting device to move to the approach position according to the initial position information.

[0034] The target position control module is used to move to the approach position, acquire the relative position information between the hoisting device and the mobile cabin based on the second type of antenna array, and control the hoisting device to the target hoisting position according to the relative position information to complete the hoisting positioning.

[0035] This invention discloses a multi-antenna cooperative positioning method and system for mobile cabins, comprising: defining several key positioning points on the structure of the mobile cabin according to preset positioning antenna type information, forming a key positioning point set; deploying a first type of positioning antenna and a second type of positioning antenna based on the key positioning point set to construct a first type of antenna array and a second type of antenna array; using the first type of antenna array to collect the initial position information of the mobile cabin, and controlling the hoisting device to approach the mobile cabin based on the initial position information to complete the motion control to the approach position; after the hoisting device moves to the approach position, collecting the relative position information between the hoisting device and the mobile cabin based on the second type of antenna array; performing a positioning correction operation according to the relative position information to control the hoisting device to move accurately to the target hoisting position, completing the hoisting and positioning operation of the mobile cabin. The multi-antenna cooperative positioning method and system for mobile cabins disclosed in this invention solves the technical problem of poor hoisting accuracy and reliability, which affects the safety of the contents of the mobile cabin, and achieves the technical effects of improving hoisting accuracy and reliability and improving the safety of the contents. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the multi-antenna cooperative positioning method for mobile shelters according to the present invention.

[0037] Figure 2This is a schematic diagram of the multi-antenna cooperative positioning system for mobile cabins according to the present invention.

[0038] Explanation of reference numerals in the attached diagram: 11. Positioning point definition module; 12. Antenna array deployment module; 13. Approach drive module; 14. Target position control module. Detailed Implementation

[0039] The above technical solutions will now be described in detail with reference to the accompanying drawings and specific embodiments to provide a better understanding of them. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be understood that the present invention is not limited to the exemplary embodiments used only to explain the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the drawings, not all of them.

[0040] Example 1, as Figure 1 This is a flowchart illustrating the multi-antenna cooperative positioning method for mobile shelters according to the present invention, wherein the multi-antenna cooperative positioning method for mobile shelters includes: S100: Define a set of key positioning points on the mobile cabin based on the preset positioning antenna type information.

[0041] Specifically, the preset positioning antenna type information is based on the hoisting requirements of the mobile modular shelter and the pre-determined type and performance parameters of the positioning antenna in the operating environment. For example, if the operating environment is open and high positioning accuracy is required, GNSS-RTK can be preset as the first type of positioning antenna, and its corresponding satellite frequency, signal bandwidth, and other parameters are part of the preset positioning antenna type information; while for close-range precise measurement of relative position relationships, RFID patch transponder antennas can be preset as the second type of positioning antenna, and its operating frequency, communication range, and other parameters are also preset information.

[0042] Specifically, the key positioning point set is a series of representative and critical location points selected on the mobile modular shelter. These points serve as the basis for subsequent positioning antenna deployment and play a crucial reference role during the hoisting and positioning process.

[0043] Specifically, firstly, based on the preset positioning antenna type information, the structural characteristics and hoisting requirements of the mobile cabin are analyzed to determine the distribution of key positioning points. For example, for a cuboid-shaped mobile cabin, its four corners are critical locations when considering hoisting, as these locations can provide important references for determining the spatial attitude of the mobile cabin. Therefore, these locations are set as the first type of key positioning points. At the same time, in order to obtain more comprehensive information about the top surface position of the mobile cabin, a second type of key positioning point is set at certain intervals (e.g., every 1 meter) on the top surface.

[0044] By rationally defining the set of key positioning points, the deployment of positioning antennas can be ensured to be targeted and effective. On the one hand, this improves the accuracy of acquiring initial and relative position information, reducing positioning errors; on the other hand, it fully utilizes the advantages of different types of positioning antennas to achieve multi-antenna collaborative positioning, thereby improving the accuracy and reliability of hoisting positioning and effectively enhancing the safety of the contents.

[0045] In some embodiments, a set of key positioning points is defined on the mobile cabin according to preset positioning antenna type information. The set of key positioning points includes a first type of key positioning points located at the four corners of the mobile cabin and a second type of key positioning points located at equal intervals on the top surface of the mobile cabin.

[0046] Specifically, based on the antenna type, cabin size, and positioning accuracy requirements, a set of key positioning points is selected, including: The first type of key positioning points are set at the four corners of the mobile modular housing to maximize the baseline length and improve positioning accuracy.

[0047] The second type of key positioning points: On the top surface of the shelter, several positioning points are set according to the principle of equal interval (such as every 1 meter or according to the antenna coverage radius) to enhance the positioning capability and redundancy of the top surface area.

[0048] Among them, the four corners of the mobile container are generally very important positioning points, which can determine the overall attitude and position of the mobile container; the key positioning points set at equal intervals on the top surface help to obtain more comprehensive three-dimensional position information of the mobile container, which is used for precise guidance of the positioning end.

[0049] Through the above process, the spatial positioning accuracy and coverage of the mobile shelter can be improved, meeting the needs of multi-antenna cooperative positioning. This enhances the robustness and redundancy of positioning, providing a structured physical basis for subsequent antenna cooperative algorithm optimization and positioning error compensation.

[0050] S200: Deploy a first type of positioning antenna and a second type of positioning antenna according to the set of key positioning points to form a first type of antenna array and a second type of antenna array.

[0051] Specifically, the first type of positioning antenna and the second type of positioning antenna are specific antenna types determined according to preset positioning antenna type information, and they each have different technical characteristics and applicable scenarios. For example, the first type of positioning antenna is used for large-area absolute positioning, while the second type of positioning antenna is used for short-distance relative positioning.

[0052] Specifically, an antenna array is a combination of multiple positioning antennas of the same type arranged according to certain rules and layouts to form an ordered antenna set in order to achieve specific positioning functions and performance indicators, such as improving positioning accuracy and enhancing signal strength.

[0053] Through the above process, the advantages of two different types of positioning antennas can be fully utilized. The first type of antenna array can provide absolute position information of the mobile container over a large area, providing guidance for the initial positioning and large-scale movement of the hoisting device; the second type of antenna array can provide high-precision relative position information when the hoisting device approaches the mobile container, achieving accurate hoisting positioning. At the same time, it also enhances the reliability of positioning.

[0054] In some embodiments, a first type of positioning antenna and a second type of positioning antenna are deployed according to the set of key positioning points to form a first type of antenna array and a second type of antenna array, including: Traverse the first type of key positioning points, set up a first type of positioning antenna based on GNSS-RTK and initialize the position to obtain the first type of antenna array; based on the preset selection rules, traverse the second type of key positioning points to extract points until the number of extracted points meets the preset point threshold, and output a candidate second type of point set; according to the candidate second type of point set, deploy an RFID-based patch transponder antenna on the top surface of the mobile cabin to obtain the second type of antenna array.

[0055] Specifically, the first type of positioning antenna refers to a high-precision positioning antenna based on GNSS-RTK (Global Navigation Satellite System - Real-time Dynamic Differential Positioning). GNSS-RTK antennas can achieve centimeter-level positioning accuracy by utilizing carrier phase differential technology and working in conjunction with a base station. The second type of positioning antenna is a patch transponder antenna based on RFID (Radio Frequency Identification) technology, mainly used for local or relative positioning. The point threshold is a pre-set minimum number of key positioning points for the second type to meet positioning performance requirements.

[0056] Specifically, firstly, the first type of key positioning points (i.e., the four corners of the shelter) are traversed, and a GNSS-RTK positioning antenna is installed at each point. The position of each antenna is initialized (such as coordinate calibration and antenna parameter configuration), ultimately forming the first type of antenna array. For example, four GNSS-RTK antennas are installed at the four corners of the shelter, and their latitude and longitude coordinates are automatically collected to achieve array initialization.

[0057] Then, based on preset selection rules (such as interval distance, coverage area, environmental interference, etc.), the second type of key positioning points are traversed to select several points until the number of selected points reaches a preset point threshold, forming a candidate second type of point set. Subsequently, RFID patch transponder antennas are deployed at the corresponding locations of the candidate second type of point set to form a second type of antenna array. For example, if 10 candidate points are evenly distributed on the roof of the shelter, following the rule of "selecting one point every 1.5 meters and avoiding overlap with obstacles," 6 points are ultimately selected to install RFID transponders.

[0058] For example, assume the mobile shelter is a cuboid structure with dimensions of 6 meters (length), 2.5 meters (width), and 2.8 meters (height). When presetting the positioning antenna type information, GNSS-RTK is selected as the first type of positioning antenna, with a satellite frequency of 1575.42 MHz and a signal bandwidth of 20 MHz. An RFID patch transponder antenna is used as the second type of positioning antenna, operating at a frequency of 13.56 MHz and a communication range of 0.2 meters. When defining the key positioning point set, the four corners of the mobile shelter are set as first-type key positioning points, and a second-type key positioning point is set every 1 meter on the top surface, thus forming a set of 6 points on the top surface (3 on each long side and 1 on each wide side). After deploying the antennas according to the above key positioning point set, the GNSS-RTK antenna can obtain the absolute position information of the mobile shelter over a large area, while the RFID patch transponder antenna can accurately measure the relative positional relationship between the hoisting device and the mobile shelter at close range.

[0059] Through the above process, the coordinated deployment of GNSS-RTK and RFID antennas was achieved, balancing the needs for high-precision absolute positioning and localized high-density coverage. This improved the overall spatial positioning capability and robustness of the mobile shelter; even if some antennas fail, positioning accuracy can still be guaranteed through multi-source information fusion. Finally, it provided the physical foundation for the implementation of subsequent multi-antenna cooperative positioning algorithms.

[0060] S300: Obtain the initial position information of the mobile cabin through the first type of antenna array, and drive the hoisting device to move to the approach position according to the initial position information.

[0061] Specifically, initial position information refers to the absolute position data of the mobile container at the start of the hoisting operation, which may include coordinate position, attitude information, etc., and is used to provide a key reference for the initial positioning of the hoisting device. Approach position refers to an intermediate position of the hoisting device before it approaches the target hoisting position of the mobile container. This position is used to ensure that the hoisting device can safely and efficiently approach the target area and prepare for subsequent high-precision positioning and hoisting operations.

[0062] The above process improves the efficiency of hoisting operations. Firstly, the first type of antenna array can quickly and accurately acquire the initial position information of the mobile container, providing precise guidance for the initial positioning and large-scale movement of the hoisting device, reducing blind movement and wasted time during target acquisition. Secondly, it enhances the safety of hoisting operations. The approach position provides a safe approach point for the hoisting device. After reaching this position, the hoisting device can switch to a high-precision positioning mode based on the second type of antenna array, avoiding the risk of collisions or misoperations that might occur if the hoisting device moves directly to the vicinity of the target location, thus laying the foundation for high-precision hoisting positioning. In other words, at the approach position, the distance between the hoisting device and the mobile container is relatively shortened, providing more ideal measurement conditions for subsequent high-precision relative positioning using the second type of antenna array, thereby achieving more accurate hoisting positioning and improving the overall quality of the hoisting operation.

[0063] In some embodiments, obtaining the initial position information of the mobile container through the first type of antenna array, and driving the hoisting device to move to the approach position based on the initial position information, includes: A first positioning antenna is randomly selected from the first type of antenna array; the first positioning antenna and the base station antenna of the target scene are activated to receive satellite carrier signals and calculate carrier phase difference information; based on the carrier phase difference information, the first initial position information is calculated in real time using the RTK algorithm, and the first type of antenna array is traversed to perform position calculations to generate the initial position information; based on the initial position information, path planning is performed, the path planning result is converted into path control commands, and transmitted to the drive hoisting device for movement control.

[0064] Specifically, the first positioning antenna refers to the GNSS-RTK antenna selected for the current positioning calculation in the first type of antenna array. The reference station antenna refers to the GNSS base station antenna in the target scene used to provide high-precision positioning reference. Carrier phase difference information refers to the difference data between the carrier phase of the same satellite signal received by the mobile terminal and the reference station in the GNSS system, which is a key parameter for achieving centimeter-level positioning accuracy.

[0065] Specifically, firstly, in the first type of antenna array (such as the GNSS-RTK antennas at the four corners of the shelter), one antenna is randomly selected as the first positioning antenna, activated, and a communication link is established with the base station antenna in the target scene to prepare for receiving satellite signals. Next, the first positioning antenna and the base station antenna synchronously receive GNSS satellite carrier signals, and the carrier phase difference between the received satellite signals is calculated to obtain the raw data required for differential positioning.

[0066] Then, the carrier phase difference information is input into the RTK (Real-Time Kinematic) algorithm module. This module uses observation data from multiple satellites and algorithms (such as the LAMBDA method) to solve the integer ambiguity of the carrier phase. After solving the integer ambiguity, it combines satellite ephemeris and observation data to finally output high-precision three-dimensional spatial coordinates.

[0067] Furthermore, the positioning calculations described above are performed on all the first type of antennas, and the results of each antenna are combined to generate the overall initial position information, which includes the corner position information and overall attitude information of the mobile cabin.

[0068] Furthermore, based on the generated initial position information, the path planning module is invoked to plan the optimal path for the lifting device from its current position to the target approach position. The planning results are then converted into specific path control commands (such as speed, angle, acceleration, etc.) and sent to the drive control system of the lifting device to achieve automatic movement of the lifting device. The path planning algorithm may include A* algorithm, Dijkstra's algorithm, RRT (Fast Random Tree), etc.

[0069] Through the above process, high-precision initial positioning of the mobile container is achieved, providing accurate spatial reference for subsequent automated handling and docking operations. It also enhances the automation and intelligence level of the hoisting device, enabling dynamic adjustment of the movement path based on real-time positioning results, ensuring operational safety and efficiency.

[0070] S400: After moving to the approach position, based on the second type of antenna array, obtain the relative position information between the hoisting device and the mobile container, and control the hoisting device to the target hoisting position according to the relative position information to complete the hoisting positioning.

[0071] Specifically, a Type II antenna array refers to an antenna collection consisting of multiple Type II positioning antennas of the same type arranged in a certain layout, capable of high-precision relative positioning over short distances. For example, an RFID patch transponder antenna can interact with a beacon tag on a retrieval device, calculating the relative distance and position information between the two by measuring signal strength or time of flight.

[0072] Specifically, relative position information refers to the spatial position data of the lifting device relative to the mobile container, typically including information such as distance, elevation angle, and orientation angle, which can serve as the basis for precise control of the lifting device. The target lifting position refers to the final position that the lifting device needs to reach precisely, usually a specific lifting point on the mobile container, at which the lifting device can accurately and safely complete the lifting task.

[0073] Through the above process, firstly, the accuracy of hoisting positioning can be improved. The second type of antenna array can provide high-precision relative position information, enabling the hoisting device to make precise fine adjustments after approaching the target position, ensuring the accuracy of hoisting positioning. Secondly, the stability of the hoisting process can be enhanced. The feedback control mechanism based on relative position information can monitor the positional relationship between the hoisting device and the mobile container in real time and adjust the movement trajectory of the hoisting device in a timely manner, avoiding hoisting instability caused by external interference or mechanical shaking. By precisely controlling the hoisting device to reach the target hoisting position, collisions or damage caused by inaccurate positioning can be effectively avoided, protecting the safety of the mobile container and its contents, while also ensuring the safety of personnel and equipment.

[0074] In some embodiments, after moving to the approach position, relative position information between the hoisting device and the mobile container is obtained based on the second type of antenna array, including: A short-range wireless communication link is established between the second type of antenna array and the hoisting device; real-time signal interaction is performed between the beacon tag carried by the hoisting device and the second type of antenna array to collect and form a second antenna signal set, wherein the beacon tag is a short-range wireless positioning tag; the second antenna signal set is analyzed, a distance model is constructed based on the signal strength, and a second distance information set is calculated and obtained; multi-point constraint solution is performed based on the second distance information set to determine the relative spatial position of the hoisting device relative to the mobile cabin, and the relative position information is generated.

[0075] Specifically, a beacon tag refers to a short-range wireless positioning tag installed on a hoisting device, capable of transmitting or responding to wireless signals (such as RFID tags, Bluetooth Beacons, etc.). The second antenna signal set refers to the collection of all beacon wireless signals received by the second type of antenna array at a given moment, exemplarily including parameters such as signal strength (RSSI), time of arrival (TOA), and angle of arrival (AOA). The second distance information set is the set of distances between each antenna and the beacon tag calculated using a distance model from the second antenna signal set.

[0076] Specifically, a distance model refers to a model established based on the mathematical relationship between signal strength or other signal characteristics and distance, used to estimate the distance between the hoisting device and the antenna. Common examples include path loss models based on signal strength and ranging models based on time of flight.

[0077] Specifically, a short-range wireless communication link is first established between the second type of antenna array on the mobile cabin and the beacon tag on the hoisting device. For example, a communication connection is established between the RFID patch transponder antenna deployed on the top of the mobile cabin and the RFID beacon tag on the hoisting device by sending and receiving wireless signals. The communication frequency is 13.56MHz and the communication distance is 3 meters.

[0078] Then, the beacon tag periodically broadcasts wireless signals to the surrounding area, and each antenna on the second type of antenna array synchronously receives the signals, collecting parameters such as signal strength (RSSI), time of arrival (TOA), and angle of arrival (AOA) to form the second antenna signal set.

[0079] Next, based on known signal propagation models (such as the logarithmic attenuation relationship between RSSI and distance or the linear relationship between TOA and distance), the distance between the hoisting device and each antenna is calculated, forming a distance information set (i.e., the second distance information set) containing multiple distance data.

[0080] Furthermore, by utilizing the distance data between multiple antennas and the beacon, mathematical methods such as trilateration or least squares are employed, combined with the known layout of the antenna array, to jointly calculate the three-dimensional spatial coordinates of the beacon tag (i.e., the retrieval device) relative to the antenna array (i.e., the mobile cabin), thereby achieving precise positioning of the retrieval device relative to the mobile cabin and generating relative position information.

[0081] Through the above process, high-precision relative positioning between the lifting device and the mobile container was achieved, providing centimeter-level spatial reference for subsequent automatic docking and lifting operations. At the same time, it enhanced the automation and safety of the operation, enabling real-time monitoring of the relative position of the lifting device, automatic correction, and reducing the need for manual intervention.

[0082] For example, suppose the top surface of the mobile container is equipped with six RFID patch transponder antennas, forming a second type of antenna array, and the hoisting device is equipped with corresponding RFID beacon tags. When the hoisting device moves to the approach position, the six RFID patch transponder antennas establish short-range wireless communication links with the beacon tags and begin real-time signal interaction. Each antenna sends a query signal to the beacon tag every 0.1 seconds, and the beacon tag replies with a response signal containing its own identifier and signal strength information. After one second of signal acquisition, an antenna signal set containing 60 signal data points is formed. These signal data are analyzed, and a distance model is constructed based on the signal strength to calculate the distance between the hoisting device and each antenna, forming a distance information set. Assume the calculated distance data is: Antenna 1 distance 2.5 meters, Antenna 2 distance 3.0 meters, Antenna 3 distance 2.8 meters, Antenna 4 distance 3.2 meters, Antenna 5 distance 2.7 meters, and Antenna 6 distance 2.9 meters. Using trilateration, these distance data are solved with multi-point constraints to determine that the lifting device is located 1.5 meters above the top of the mobile container, with a lateral deviation of 0.3 meters and a longitudinal deviation of 0.2 meters from the target lifting position. The output is relative position information, which is used for subsequent control of the lifting device to ensure that it accurately reaches the target lifting position.

[0083] In some embodiments, controlling the lifting device to the target lifting position based on the relative position information to complete the lifting and positioning includes: The relative position information is used as feedback input to the lifting device, and the step error is estimated according to the preset approach control step size. The step control path is generated and the step control command is output by combining the path planning algorithm and the step error estimation result. The lifting device is controlled by the step control command, and the relative position information is updated for iterative control until the set positioning criteria are met.

[0084] Specifically, the approach control step size refers to the maximum distance or angle change that the hoisting device is allowed to move based on error feedback in each control cycle, and can be set according to the operational accuracy and response capability.

[0085] Specifically, within each control cycle, the spatial error between the current position and the target can be estimated based on the difference between the current relative position information and the target lifting position, and a motion trajectory is generated for the lifting device to reduce the distance to the target position.

[0086] Specifically, the positioning criterion refers to the standard for determining whether the lifting device has reached the target lifting position.

[0087] Specifically, firstly, the latest acquired spatial coordinates (relative position information) of the retrieval device relative to the mobile container are used as feedback input to calculate the spatial error (such as Euclidean distance) between the current retrieval device and the target retrieval position, and compare it with the approach control step size to determine the maximum step distance that can be executed in this round.

[0088] Then, based on path planning algorithms (such as linear interpolation, shortest path, obstacle avoidance algorithms, etc.), combined with the current error and approach control step size, a step control path for the lifting device is generated, and the step control path is converted into standardized control commands (such as position, speed, acceleration parameters, G-code, etc.) and sent to the lifting device actuator.

[0089] Next, the hoisting device moves to the new expected position according to the control command, and updates the relative position information in real time again through the second type of antenna array and beacon tag to form a closed loop feedback. If the current spatial error is still greater than the set positioning criterion threshold, the above steps are repeated to continuously iterate the control. When the error is less than or equal to the positioning criterion, the hoisting positioning is determined to be completed.

[0090] For example, assuming the target lifting position differs from the current actual position by 5cm, and the approach control step size is set to 2cm, a 2cm stepping path is first generated, executed, and then the remaining error is measured until the relative position meets the set positioning criteria.

[0091] Through the above process, high-precision, closed-loop hoisting positioning control was achieved, significantly improving the positioning accuracy and reliability of automated hoisting operations. The combination of path planning and step error estimation effectively avoided overshoot or oscillation caused by large-amplitude movements, improving the stability and safety of the control.

[0092] In some implementations, the approach control step size adopts an adaptive adjustment strategy, dynamically adjusting the approach control step size value based on the real-time relative position information.

[0093] Specifically, the adaptive adjustment strategy refers to an algorithmic method that dynamically adjusts the approach control step size based on the current state (such as the distance between the current position and the target position, movement speed, environmental constraints, etc.). Its goal is to improve overall operational efficiency and stability while ensuring positioning accuracy.

[0094] Specifically, within each control cycle, the relative position information of the current lifting device is acquired, and the spatial error between it and the target lifting position is calculated. Based on the magnitude of the spatial error, an adaptive algorithm is used to adjust the approach control step size. For example, when the spatial error is large, the step size is increased to accelerate the approach speed; when the spatial error gradually decreases, the step size is gradually decreased to avoid overshoot and improve the final positioning accuracy.

[0095] Optionally, piecewise linear, exponential decay, or fuzzy control algorithms can be used to adaptively adjust the step size. For example, if the error is greater than 10cm, the step size is set to 5cm; if the error is between 10cm and 2cm, the step size is linearly reduced to 1cm; if the error is less than 2cm, the step size is set to 0.5cm.

[0096] In some implementations, the positioning criteria include: First positioning criterion: A preset proportion of antennas in the second type of antenna array receive signals that meet the signal-to-noise ratio requirements; Second positioning criterion: The mean square error of signal strength and the average distance calculated based on the second antenna signal set both meet preset threshold conditions; When either the first positioning criterion or the second positioning criterion is met, positioning is determined to be complete.

[0097] Specifically, the positioning criteria refer to the standards set to determine whether the lifting device has accurately reached the target lifting position, including multi-dimensional indicators such as signal reception quality and signal statistical characteristics. Among these, the signal-to-noise ratio (SNR) requirement refers to the minimum ratio of received signal strength to noise intensity that must be achieved to ensure the reliability of the positioning data. The root mean square error of the signal strength refers to the variance of the received signal strength, reflecting the stability and consistency of the signal. The average distance refers to the average value of the current relative distance measured by the antenna array, used to comprehensively judge the positioning accuracy.

[0098] For example, the first positioning criterion is to determine whether there are antennas in the second type of antenna array that receive signals that meet the signal-to-noise ratio requirements, reaching a preset proportion (e.g., 80%).

[0099] For example, the second positioning criterion is: to collect the signal strength of all second-type antennas, calculate their mean square error, and determine whether it is lower than a set stability threshold (e.g., 0.5 dB). 2 This ensures minimal signal fluctuation. Simultaneously, the average distance measured by the antenna array is calculated, and it is determined whether it falls within the allowable error range of the target distance (e.g., ±2cm). If both conditions are met, the second pre-defined positioning criterion is deemed valid.

[0100] Specifically, when either the first or the second positioning criterion is met, it can be determined that the lifting device has completed precise positioning and can proceed to the next operation process; if neither is met, path correction and feedback control continue.

[0101] The above process enhances the robustness and flexibility of positioning determination, allowing for judgment based on both signal reception quality and statistical characteristics. This avoids missed or incorrect judgments caused by a single criterion, ensuring that the lifting device can still accurately complete positioning operations even in complex or dynamically changing signal environments.

[0102] In some implementations, the first type of positioning antenna further includes a UWB communication antenna disposed on the upper surface of the mobile container; during the process of the hoisting device moving to the approach position, the UWB communication antenna is activated to collect intermediate positioning data in real time; the intermediate positioning data is fused with the path planning result to generate corrected path information, and dynamic compensation control is performed based on the corrected path information.

[0103] Specifically, UWB communication antennas, or Ultra Wideband (UWB) communication antennas, enable high-precision, low-latency wireless positioning and data transmission, and are commonly used in spatial positioning scenarios with centimeter-level accuracy. Intermediate positioning data is the real-time position information collected by the UWB antenna as the retrieval device moves from its starting position to its target approach position, used for dynamic feedback and path correction.

[0104] Specifically, when the lifting device begins to move to the target approach position, the UWB communication antenna installed on the upper surface of the mobile container is automatically activated to collect the position information of the lifting device in real time, forming an intermediate positioning data stream. Then, the real-time collected intermediate positioning data is fused with the pre-planned path planning results. The fusion method can employ multi-sensor fusion algorithms such as Kalman filtering, extended Kalman filtering, and particle filtering to improve positioning accuracy and robustness. Based on the fusion results, dynamically corrected path information is then fitted and generated to reflect the actual movement state of the lifting device and the target deviation in real time.

[0105] Furthermore, based on the corrected path information, the movement trajectory and control commands of the lifting device are dynamically adjusted to achieve real-time compensation for environmental disturbances, path deviations, and other factors. This method, through closed-loop feedback, ensures that the lifting device can reach the target approach position more accurately.

[0106] In summary, the multi-antenna cooperative positioning method for mobile shelters provided by this invention has the following technical effects: By defining several key positioning points on the mobile cabin structure according to the preset positioning antenna type information, a key positioning point set is formed. Based on the key positioning point set, a first type of positioning antenna and a second type of positioning antenna are deployed to construct a first type of antenna array and a second type of antenna array. The first type of antenna array is used to collect the initial position information of the mobile cabin, and the hoisting device is controlled to approach the mobile cabin based on the initial position information to complete the motion control to the approach position. After the hoisting device moves to the approach position, the relative position information between the hoisting device and the mobile cabin is collected based on the second type of antenna array. The positioning correction operation is performed according to the relative position information to control the hoisting device to move accurately to the target hoisting position, and complete the hoisting and positioning operation of the mobile cabin, thereby achieving the technical effects of improving hoisting accuracy and reliability and improving the safety of the contents.

[0107] Example 2, as Figure 2 This is a schematic diagram of the multi-antenna cooperative positioning system for mobile shelters according to the present invention. For example, Figure 1 The flowchart of the multi-antenna cooperative positioning method for mobile shelters of the present invention can be illustrated as follows: Figure 2 The structure shown is implemented.

[0108] Based on the same concept as the multi-antenna cooperative positioning method for mobile cabins described in the embodiments, the present invention also provides a multi-antenna cooperative positioning system for mobile cabins, comprising: The positioning point definition module 11 is used to define a set of key positioning points on the mobile cabin according to the preset positioning antenna type information.

[0109] The antenna array deployment module 12 is used to deploy a first type of positioning antenna and a second type of positioning antenna according to the set of key positioning points, to form a first type of antenna array and a second type of antenna array.

[0110] Approach drive module 13 is used to acquire the initial position information of the mobile cabin through the first type of antenna array, and drive the hoisting device to move to the approach position according to the initial position information.

[0111] The target position control module 14 is used to move to the approach position, acquire the relative position information between the hoisting device and the mobile cabin based on the second type of antenna array, and control the hoisting device to the target hoisting position according to the relative position information to complete the hoisting positioning.

[0112] In some embodiments, the set of key positioning points in the positioning point definition module 11 includes a first type of key positioning points located at the four corners of the mobile cabin and a second type of key positioning points located at equal intervals on the top surface of the mobile cabin.

[0113] In some embodiments, the antenna array deployment module 12 includes: The first type of positioning antenna initialization unit is used to traverse the first type of key positioning points, set the first type of positioning antenna based on GNSS-RTK and perform position initialization, and obtain the first type of antenna array.

[0114] The second type of key positioning point extraction unit is used to extract points by traversing the second type of key positioning points based on preset selection rules until the number of extracted points meets the preset point threshold, and outputs a candidate second type of point set.

[0115] The second type of antenna array deployment unit is used to deploy RFID-based patch transponder antennas on the top surface of the mobile cabin according to the candidate second type of point set, and to obtain the second type of antenna array.

[0116] In some embodiments, the approach drive module 13 includes: The first positioning antenna selection unit is used to randomly select a first positioning antenna from the first type of antenna array.

[0117] The carrier phase difference information calculation unit is used to activate the first positioning antenna and the reference station antenna of the target scene, receive satellite carrier signals, and calculate carrier phase difference information.

[0118] The initial position information calculation and generation unit is used to calculate the first initial position information in real time based on the carrier phase difference information and the RTK algorithm, and to perform position calculations by traversing the first type of antenna array to generate the initial position information.

[0119] The path planning and movement control command transmission unit is used to perform path planning based on the initial position information, convert the path planning result into path control commands, and transmit them to the drive lifting device for movement control.

[0120] In some embodiments, the target position control module 14 includes: A short-range wireless communication link establishment unit is used to establish a short-range wireless communication link between the second type of antenna array and the hoisting device.

[0121] The second antenna signal set acquisition unit is used to collect and form a second antenna signal set by real-time signal interaction between the beacon tag carried by the hoisting device and the second type of antenna array, wherein the beacon tag is a short-range wireless positioning tag.

[0122] The distance model construction and second distance information set calculation unit is used to parse the second antenna signal set, construct a distance model based on the signal strength, and calculate and obtain the second distance information set.

[0123] The relative spatial position determination and relative position information generation unit is used to perform multi-point constraint solving based on the second distance information set, determine the relative spatial position of the hoisting device relative to the mobile cabin, and generate the relative position information.

[0124] In some embodiments, the target position control module 14 further includes: The feedback input and step error estimation unit is used to input the relative position information as feedback to the hoisting device and to estimate the step error according to the preset approach control step size.

[0125] The step control path generation and command output unit is used to combine the path planning algorithm and the step error estimation result to generate the step control path and output the step control command.

[0126] The hoisting device control and iterative update unit is used to control the hoisting device through the step control command and update the relative position information for iterative control until the set positioning criteria are met.

[0127] In some implementations, the positioning criteria set in the target position control module 14 include: First positioning criterion: A preset proportion of antennas in the second type of antenna array receive signals that meet the signal-to-noise ratio requirements; Second positioning criterion: The mean square error of signal strength and the average distance calculated based on the second antenna signal set both meet preset threshold conditions; When either the first positioning criterion or the second positioning criterion is met, positioning is determined to be complete.

[0128] In some embodiments, the first type of positioning antenna in the antenna array deployment module 12 further includes a UWB communication antenna disposed on the upper surface of the mobile cabin, used to activate the UWB communication antenna during the process of the hoisting device moving to the approach position, to collect intermediate positioning data in real time; to fuse the intermediate positioning data with the path planning result, to fit and generate corrected path information, and to perform dynamic compensation control based on the corrected path information.

[0129] In some embodiments, the approach control step size employs an adaptive adjustment strategy, dynamically adjusting the approach control step size value based on the real-time relative position information.

[0130] It should be understood that the focus of the embodiments mentioned in this specification is their difference from other embodiments. The specific embodiments in the aforementioned Embodiment 1 are also applicable to the multi-antenna cooperative positioning system for mobile cabins described in Embodiment 2. For the sake of brevity, they will not be elaborated further here.

[0131] It should be understood that the embodiments disclosed in this invention and the above description enable those skilled in the art to implement this invention. However, this invention is not limited to the embodiments mentioned above. It should be understood that those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention, and should all be included within the protection scope of this invention.

Claims

1. A multi-antenna cooperative positioning method for mobile shelters, characterized in that, include: Based on the preset positioning antenna type information, a set of key positioning points is defined on the mobile cabin; Based on the set of key positioning points, a first type of positioning antenna and a second type of positioning antenna are deployed to form a first type of antenna array and a second type of antenna array. The initial position information of the mobile cabin is obtained through the first type of antenna array, and the hoisting device is driven to move to the approach position according to the initial position information; After moving to the approach position, the relative position information between the hoisting device and the mobile container is obtained based on the second type of antenna array, and the hoisting device is controlled to move to the target hoisting position according to the relative position information to complete the hoisting and positioning. The process includes acquiring the initial position information of the mobile container through the first type of antenna array, and driving the hoisting device to move to the approach position based on the initial position information, including: A first positioning antenna is randomly selected from the first type of antenna array; Activate the first positioning antenna and the base station antenna of the target scene to receive satellite carrier signals and calculate carrier phase difference information; Based on the carrier phase difference information, the first initial position information is calculated in real time using the RTK algorithm, and the first type of antenna array is traversed to perform position calculations to generate the initial position information. Based on the initial position information, path planning is performed, the path planning result is converted into path control commands, and transmitted to the drive lifting device for movement control.

2. The multi-antenna cooperative positioning method for mobile shelters as described in claim 1, characterized in that, Based on the preset positioning antenna type information, a set of key positioning points is defined on the mobile cabin. The set of key positioning points includes a first type of key positioning points set at the four corners of the mobile cabin and a second type of key positioning points set at equal intervals on the top surface of the mobile cabin.

3. The multi-antenna cooperative positioning method for mobile shelters as described in claim 2, characterized in that, Based on the set of key positioning points, a first type of positioning antenna and a second type of positioning antenna are deployed respectively to form a first type of antenna array and a second type of antenna array, including: Traverse the first type of key positioning points, set up the first type of positioning antenna based on GNSS-RTK and initialize the position, and obtain the first type of antenna array; Based on the preset selection rules, the second type of key positioning points are traversed to extract points until the number of extracted points meets the preset point threshold, and the candidate second type of point set is output. Based on the two candidate point sets, RFID-based patch transponder antennas are deployed on the top surface of the mobile cabin to obtain the second type of antenna array.

4. The multi-antenna cooperative positioning method for mobile shelters as described in claim 1, characterized in that, After moving to the approach position, based on the second type of antenna array, the relative position information between the hoisting device and the mobile container is obtained, including: Establish a short-range wireless communication link between the second type of antenna array and the hoisting device; The beacon tag mounted on the hoisting device interacts with the second type of antenna array in real time to collect and form a second antenna signal set, wherein the beacon tag is a short-range wireless positioning tag; The second antenna signal set is analyzed, a distance model is constructed based on the signal strength, and the second distance information set is calculated and obtained; Based on the second distance information set, multi-point constraint solution is performed to determine the relative spatial position of the hoisting device relative to the mobile cabin, and the relative position information is generated.

5. The multi-antenna cooperative positioning method for mobile shelters as described in claim 4, characterized in that, Based on the relative position information, the lifting device is controlled to move to the target lifting position to complete the lifting and positioning, including: The relative position information is fed back to the hoisting device, and the step error is estimated according to the preset approach control step size. By combining the path planning algorithm with the step error estimation results, a step control path is generated and a step control command is output. The lifting device is controlled by step control commands, and the relative position information is updated iteratively until the set positioning criteria are met.

6. The multi-antenna cooperative positioning method for mobile shelters as described in claim 5, characterized in that, The defined positioning criteria include: First positioning criterion: The antennas in the second type of antenna array receive signals that meet the signal-to-noise ratio requirements at a predetermined ratio; The second positioning criterion is that the mean square error of the signal strength and the average distance calculated based on the second antenna signal set both meet the preset threshold conditions. When either the first or the second set positioning criterion is satisfied, the positioning is determined to be complete.

7. The multi-antenna cooperative positioning method for mobile shelters as described in claim 1, characterized in that, The first type of positioning antenna also includes a UWB communication antenna disposed on the upper surface of the mobile cabin; During the process of the hoisting device moving to the approach position, the UWB communication antenna is activated to collect intermediate positioning data in real time; The intermediate positioning data is fused with the path planning results to generate corrected path information, and dynamic compensation control is performed based on the corrected path information.

8. The multi-antenna cooperative positioning method for mobile shelters as described in claim 5, characterized in that, The approach control step size adopts an adaptive adjustment strategy, dynamically adjusting the approach control step size value based on the real-time relative position information.

9. A multi-antenna cooperative positioning system for mobile shelters, characterized in that, The method for implementing the multi-antenna cooperative positioning method for mobile shelters as described in any one of claims 1 to 8 includes: The positioning point definition module is used to define a set of key positioning points on the mobile cabin based on the preset positioning antenna type information. An antenna array deployment module is used to deploy a first type of positioning antenna and a second type of positioning antenna according to the set of key positioning points, to form a first type of antenna array and a second type of antenna array. The approach drive module is used to acquire the initial position information of the mobile cabin through the first type of antenna array, and drive the hoisting device to move to the approach position according to the initial position information; The target position control module is used to move to the approach position, acquire the relative position information between the hoisting device and the mobile cabin based on the second type of antenna array, and control the hoisting device to the target hoisting position according to the relative position information to complete the hoisting positioning.

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