阅读说明：本技术 一种地下空间内既定路径自主定位方法 (Autonomous positioning method for established path in underground space ) 是由 柏思忠 于庆 张加易 孙世岭 路萍 李莉 梁光清 张远征 赵庆川 罗前刚 马勤勇 于 2021-07-14 设计创作，主要内容包括：本发明涉及一种地下空间内既定路径自主定位方法,属于定位技术领域。该方法为：利用地下空间的分层特性,将地下空间分解为多个一定深度的二维平面,针对地下空间巷道分布数字化平面地图结合巷道交叉点坐标,设备E-(0)自主定位变化为既定路径的惯性导航,分解为简单的直线运动导航和交叉点标定,计算出实时相对坐标和运动路径。本发明导入交叉点坐标矩阵,所有路径变成既定路径；巷道交叉点标定,消除惯性导航累计误差。(The invention relates to an autonomous positioning method for a given path in an underground space, and belongs to the technical field of positioning. The method comprises the following steps: decomposing the underground space into a plurality of two-dimensional planes with certain depth by utilizing the layering characteristic of the underground space, combining a digital plane map for underground space roadway distribution with roadway intersection coordinates, and equipment E 0 The autonomous positioning change is inertial navigation of a set path, the inertial navigation is decomposed into simple linear motion navigation and intersection point calibration, and real-time relative coordinates and a motion path are calculated. According to the invention, a cross point coordinate matrix is introduced, and all paths are changed into established paths; and calibrating the intersection of the roadway, and eliminating the accumulated error of inertial navigation.)

1. An autonomous positioning method for a given path in an underground space is characterized in that: the method comprises the following steps:

decomposing the underground space into a plurality of two-dimensional planes with certain depth by utilizing the layering characteristic of the underground space, combining a digital plane map for underground space roadway distribution with roadway intersection coordinates, and equipment E₀The autonomous positioning change is inertial navigation of a set path, the inertial navigation is decomposed into simple linear motion navigation and intersection point calibration, and real-time relative coordinates and a motion path are calculated.

2. The method of claim 1, wherein the method comprises: the method specifically comprises the following steps:

s1: marking out all roadway intersections and coordinates by combining an electronic map, establishing an intersection coordinate matrix, importing the intersection coordinate matrix into equipment, establishing a mathematical model of all motion paths, and enabling any path to become a set path;

S2: judging a cross point when the change of the attitude angle exceeds an angle threshold in the motion process of the equipment;

s3: when the equipment moves to a roadway intersection, the real-time coordinates are directly calibrated by the known coordinates of the intersection, and the inertial navigation accumulated error is eliminated.

3. The method of claim 2, wherein the method comprises: in the underground space roadway distribution digital plane map, the initial point O (0,0) is used as the origin of plane coordinates, all roadway cross connection points are numbered point by point and line by line, and relative coordinates in the plane are marked, including A₁(x₁,y₁) To A_n(x_n,y_n) Determining all paths in the roadway according to the coordinates of the intersection points, determining any path in the underground space as a set path, and performing two-dimensional set path inertial navigation on the condition that the autonomous positioning of underground space equipment is changed into a certain depth value;

A₁(x₁,y₁) To A_n(x_n,y_n) Generating a two-dimensional digital plane map coordinate matrix according to the row-column relationship as follows:

the number of elements in each row is determined by the number of intersections of the same horizontal roadway, the number of the elements in other rows is insufficient, and the number of rows is determined by the number of the horizontal roadways in the electronic map.

4. The method according to claim 3, wherein the method comprises: the apparatus E ₀The working process of the method comprises the following three steps:

first step zero-speed calibration: at the starting point O (0,0) a device E₀Starting to calibrate an initial state and an initial attitude just opposite to a static state of the center of the horizontal roadway, and equipment E₀Initializing the current coordinate as an origin O (0,0), and the initial posture is that the positive direction faces the positive direction of the X axis;

and a second step of cross point calibration: device E₀Move to all A₁(x₁,y₁) To A_n(x_n,y_n) To, i.e. equipment E₀The change value of the attitude angle in the horizontal direction exceeds a threshold value theta_thIs judged as device E₀Reach the specified intersection point a_i(x_i,y_i) Correcting the current real-time value according to the known coordinate value of the intersection point, and eliminating the accumulated error of inertial navigation;

third step, linear inertial navigation: device E₀Linear movement, i.e. apparatus E₀The change value of the attitude angle in the horizontal direction does not exceed a threshold value theta_thThen, the equipment E is obtained through calculation of an inertial navigation component₀And calculating real-time coordinates and a motion path according to the information of the speed, the position and the attitude angle in the navigation coordinate system.

Technical Field

The invention belongs to the technical field of positioning, and relates to an autonomous positioning method for a given path in an underground space.

Background

The invention relates to the technical field of indoor positioning, in particular to an autonomous positioning method for a given path in an underground space. Mainly to infrared positioning technique, ultrasonic wave location technique, WIFI location technique, bluetooth location technique, inertial navigation technique, ultra wide band location technique etc. carry out the current situation analysis:

(1) An infrared positioning technology: infrared is a common electromagnetic wave, and infrared positioning is realized by utilizing the characteristics of the electromagnetic wave, and adopts the principle that an optical sensor with a fixed position is arranged in an indoor environment, and the position is estimated by receiving the infrared emitted by mobile equipment so as to calculate the position for positioning. The infrared ray has extremely high positioning accuracy, but the indoor positioning effect is poor due to the two main defects that the infrared ray cannot penetrate through an obstacle and can only be transmitted in a sight distance and the infrared ray positioning is easily interfered by lamplight.

(2) Ultrasonic positioning technology: a plurality of fixed receiving ultrasonic receivers are arranged in a measuring environment, a target carrying an ultrasonic generator can send pulse signals at a specific frequency, the distance between each receiver and the target is calculated according to the time difference of the signals received by each receiver, and the position of the target is further calculated. High-precision positioning results can be obtained in a small range, but the pulse signal transmission attenuation of ultrasonic waves is large, and when the indoor environment is too large, the signal error can become uncontrollable.

(3) WIFI positioning technology: the WIFI positioning needs to collect position information of a fixed access point in advance, when the mobile equipment is accessed to a wireless local area network, the distance between the mobile equipment and the access point is estimated by means of signal intensity collection, signal attenuation models, actual environment speculation and the like, and after the distance is calculated by using three or more access points, the position of the current mobile equipment can be calculated in a triangulation positioning mode. The disadvantage is that if only the position information of the fixed access point is relied on and the data is not updated in real time, the signal is subject to increased estimation errors due to wall structure and human body obstruction.

(4) Bluetooth positioning technology: when the mobile device is connected with a plurality of main devices through Bluetooth, the signal intensity of the main devices can be obtained, and the position can be calculated through the signal intensity. However, the bluetooth positioning system has a slightly poor stability of received signal strength in a relatively complex environment space, and the mobile device is easily interfered by other signal sources.

(5) The inertial navigation technology comprises the following steps: the acceleration sensor and gyroscope of the mobile device can measure the physical quantity, and the moving condition and the current position of the target can be estimated by using the continuous data. The device does not interact with the outside, is not interfered by other signals, and is suitable for working under complex environments with severe conditions. However, the estimated position information is obtained by integral calculations, which can create cumulative errors over time during system operation.

(6) Ultra wideband positioning technology (UWB): the UWB uses short energy pulse sequence instead of carrier wave, and spreads the pulse to a frequency range by orthogonal frequency division modulation or direct sequencing, and uses the flight time of signal between two asynchronous transceivers to measure the distance between nodes. The method has the advantages of insensitivity to channel fading, low power spectral density of transmitted signals, low interception capability, low system complexity, centimeter-level positioning accuracy and the like; but the high-frequency band pulse has poor penetrability, requires no shielding, needs to arrange a large number of base stations to form a network and has high cost.

Disclosure of Invention

In view of the above, the present invention is directed to a method for autonomously locating a predetermined path in an underground space. Generating a roadway intersection coordinate matrix according to an underground space roadway distribution digital plane map and importing the matrix into equipment, predicting all motion paths in a plane by the equipment, performing linear motion inertial navigation on a set path, and calibrating coordinates at the roadway intersection point to realize the automatic positioning of real-time coordinates and the motion paths of the equipment.

In order to achieve the purpose, the invention provides the following technical scheme:

an autonomous positioning method for a given path in an underground space comprises the following steps:

decomposing the underground space into a plurality of two-dimensional planes with certain depth by utilizing the layering characteristic of the underground space, combining a digital plane map for underground space roadway distribution with roadway intersection coordinates, and equipment E₀The autonomous positioning change is inertial navigation of a set path, the inertial navigation is decomposed into simple linear motion navigation and intersection point calibration, and real-time relative coordinates and a motion path are calculated.

Optionally, the method specifically includes the following steps:

s1: marking out all roadway intersections and coordinates by combining an electronic map, establishing an intersection coordinate matrix, importing the intersection coordinate matrix into equipment, establishing a mathematical model of all motion paths, and enabling any path to become a set path;

S2: judging a cross point when the change of the attitude angle exceeds an angle threshold in the motion process of the equipment;

s3: when the equipment moves to a roadway intersection, the real-time coordinates are directly calibrated by the known coordinates of the intersection, and the inertial navigation accumulated error is eliminated.

Optionally, in the digital plane map distributed in the underground space roadway, the initial point O (0,0) is used as the origin of plane coordinates, all roadway cross-connection points are numbered point by point and line by line, and the relative coordinates in the plane are indicated, including a₁(x₁,y₁) To A_n(x_n,y_n) Determining all paths in the roadway according to the coordinates of the intersection points, determining any path in the underground space as a set path, and performing two-dimensional set path inertial navigation on the condition that the autonomous positioning of underground space equipment is changed into a certain depth value;

A₁(x₁,y₁) To A_n(x_n,y_n) Generating a two-dimensional digital plane map coordinate matrix according to the row-column relationship as follows:

the number of elements in each row is determined by the number of intersections of the same horizontal roadway, the number of the elements in other rows is insufficient, and the number of rows is determined by the number of the horizontal roadways in the electronic map.

Optionally, the equipment E₀The working process of the method comprises the following three steps:

first step zero-speed calibration: at the starting point O (0,0) a device E₀Starting to calibrate an initial state and an initial attitude just opposite to a static state of the center of the horizontal roadway, and equipment E ₀Initializing the current coordinate as an origin O (0,0), and the initial posture is that the positive direction faces the positive direction of the X axis;

and a second step of cross point calibration: device E₀Exercise of sportsTo all A₁(x₁,y₁) To A_n(x_n,y_n) To, i.e. equipment E₀The change value of the attitude angle in the horizontal direction exceeds a threshold value theta_thIs judged as device E₀Reach the specified intersection point a_i(x_i,y_i) Correcting the current real-time value according to the known coordinate value of the intersection point, and eliminating the accumulated error of inertial navigation;

third step, linear inertial navigation: device E₀Linear movement, i.e. apparatus E₀The change value of the attitude angle in the horizontal direction does not exceed a threshold value theta_thThen, the equipment E is obtained through calculation of an inertial navigation component₀And calculating real-time coordinates and a motion path according to the information of the speed, the position and the attitude angle in the navigation coordinate system.

The invention has the beneficial effects that:

(1) importing a cross point coordinate matrix, wherein all paths become established paths;

(2) and calibrating the intersection of the roadway, and eliminating the accumulated error of inertial navigation.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

fig. 1 is a digital plane map of underground space roadway distribution.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

The invention utilizes the layering characteristic of the underground space to decompose the underground space into a plurality of two-dimensional planes with certain depth, combines a digital plane map for underground space roadway distribution with the coordinates of roadway intersection points, and decomposes the autonomous positioning of equipment into the inertial navigation of a set path, and the inertial navigation of the set path into simple linear motion navigation and intersection point calibration to calculate the real-time relative coordinates and motion paths.

(1) Marking out all roadway intersections and coordinates by combining an electronic map, establishing an intersection coordinate matrix and importing the intersection coordinate matrix into equipment, and establishing mathematical models of all motion paths, wherein any path becomes a set path;

(2) Judging a cross point when the change of the attitude angle exceeds an angle threshold in the motion process of the equipment;

(3) when the equipment moves to a roadway intersection, the real-time coordinates are directly calibrated by the known coordinates of the intersection, and the inertial navigation accumulated error is eliminated.

The underground space is usually at a horizontal level of a certain depth or a plurality of horizontal levels of a certain depth, and when the device is autonomously positioned and is not sensitive to the height, the underground space with different height layers can be marked as a two-dimensional plane with a plurality of certain depth values, and the three-dimensional space is converted into the two-dimensional plane for autonomous positioning. An underground space roadway distribution digital plane map with a certain depth is shown in figure 1, the underground space roadway distribution digital plane map is combined, an initial point O (0,0) is used as a plane coordinate original point, all roadway cross connection points are numbered point by point and line by line, and a relative coordinate such as A in a plane is marked₁(x₁,y₁) To A_n(x_n,y_n) And determining all paths in the roadway according to the coordinates of the intersection points, determining any path in the underground space as a set path, and performing two-dimensional set path inertial navigation under the condition that the autonomous positioning of underground space equipment is changed into a certain depth value.

Each point shown in fig. 1 generates a two-dimensional digital plane map coordinate matrix according to a row-column relationship as follows, the number of elements in each row is determined by the number of intersections of the same horizontal roadway, the insufficient elements in the rest rows are vacant, and the number of rows is determined by the number of horizontal roadways in the electronic map. Device E with inertial navigation function ₀The working process comprises the following three steps:

first step zero-speed calibration: at the starting point O (0,0) a device E₀Starting to calibrate an initial state and an initial attitude just opposite to a static state of the center of the horizontal roadway, and equipment E₀The current coordinates are initialized to the origin O (0,0) and the initial pose is forward facing the X-axis forward.

And a second step of cross point calibration: device E₀Move to all A₁(x₁,y₁) To A_n(x_n,y_n) To, i.e. equipment E₀The change value of the attitude angle in the horizontal direction exceeds a threshold value theta_thIs judged as device E₀Reach the specified intersection point a_i(x_i,y_i) And correcting the current real-time value according to the known coordinate value of the intersection point, and eliminating the accumulated error of the inertial navigation.

Third step, linear inertial navigation: device E₀Linear movement, i.e. apparatus E₀The change value of the attitude angle in the horizontal direction does not exceed a threshold value theta_thThen, the equipment E is obtained through calculation of an inertial navigation component₀And calculating real-time coordinates and a motion path according to information such as speed, position, attitude angle and the like in the navigation coordinate system.

Example (b):

an embodiment of an autonomous positioning method for a given path in an underground space is disclosed, wherein a digital plane map distributed in underground space roadways is shown in figure 1, the digital plane map distributed in underground space roadways is combined, a starting point O (0,0) is used as a plane coordinate origin, all roadway cross connecting points are numbered point by point and line by line, and a relative coordinate in a plane, such as A, is marked ₁(x₁,y₁) To A₁₂(x₁₂,y₁₂). The two-dimensional digital plane map coordinate matrix is generated by each point shown in the figure according to the row-column relationship, the number of elements in each row is determined by the maximum value of the elements in each row, the insufficient elements in the rest rows are vacant, and the number of rows is determined by the number of horizontal roadways in the electronic map. Device E with inertial navigation function₀The working process comprises the following three steps:

first step zero-speed calibration: at the starting point O (0,0) a device E₀Is aligned with the horizontal roadway A₁(x₁,y₁) Orientation, initial state and initial attitude at the beginning of rest, apparatus E₀The current coordinates are initialized to the origin O (0,0) and the initial pose is forward facing the X-axis forward.

And a second step of cross point calibration: device E₀Move to all A₁(x₁,y₁) To A₁₂(x₁₂,y₁₂) To, i.e. equipment E₀The change value of the attitude angle in the horizontal direction exceeds a threshold value theta_thWhen the angle is 15 °, the device E is determined₀Reach the specified intersection point a_i(x_i,y_i) From the intersection point, the coordinate value (x) is known_i,y_i) And correcting the current real-time value to eliminate the accumulated error of inertial navigation.

Third step, linear inertial navigation: device E₀Linear movement, i.e. apparatus E₀The change value of the attitude angle in the horizontal direction does not exceed a threshold value theta_thAnd when the angle is 15 degrees, the inertial navigation component automatically resolves to obtain a real-time coordinate and a motion path under a relative navigation coordinate system.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.