阅读说明：本技术 一种室内车辆定位系统 (Indoor vehicle positioning system ) 是由 李义开 侯若冰 王雪辰 张妍 于 2021-08-26 设计创作，主要内容包括：本发明实施例涉及定位技术领域,具体涉及一种室内定位系统。系统包括固定节点和车载节点；所述车载节点,用于利用固定节点实现自身的位置定位；以及实现路径规划；所述固定节点包括桥节点和锚节点,适用于组网场景,进行精准定位、采集现场视频、音频、震动等传感器参数信息；所述车载节点包括：UWB信号处理模块,用于负责UWB信号的调制与解调；系统数据处理、中心控制模块,用于负责动态三维立体定位数据处理和节点之间实时定位数据和数据传输的同步；快速动态自主组网模块,用于负责节点的搜索、自动初始定位和建网；通过车载节点和固定节点对车辆进行快速定位。(The embodiment of the invention relates to the technical field of positioning, in particular to an indoor positioning system. The system comprises a fixed node and a vehicle-mounted node; the vehicle-mounted node is used for realizing self position positioning by utilizing the fixed node; and implementing path planning; the fixed nodes comprise bridge nodes and anchor nodes, and are suitable for networking scenes to accurately position and collect sensor parameter information such as site video, audio, vibration and the like; the on-vehicle node includes: the UWB signal processing module is used for modulating and demodulating the UWB signals; the system data processing and central control module is used for processing the dynamic three-dimensional positioning data and synchronizing the real-time positioning data and the data transmission between the nodes; the fast dynamic autonomous networking module is used for searching, automatically initially positioning and establishing a network for the nodes; and rapidly positioning the vehicle through the vehicle-mounted node and the fixed node.)

1. An indoor vehicle positioning system, comprising:

a fixed node and a vehicle-mounted node;

the vehicle-mounted node is used for realizing self position positioning by utilizing the fixed node; and implementing path planning;

the fixed nodes comprise bridge nodes and anchor nodes, and are suitable for networking scenes to accurately position and collect sensor parameter information such as site video, audio, vibration and the like;

the on-vehicle node includes: the UWB signal processing module is used for modulating and demodulating the UWB signals;

the system data processing and central control module is used for processing the dynamic three-dimensional positioning data and synchronizing the real-time positioning data and the data transmission between the nodes;

the fast dynamic autonomous networking module is used for searching, automatically initially positioning and establishing a network for the nodes;

and rapidly positioning the vehicle through the vehicle-mounted node and the fixed node.

2. An indoor vehicle locating system according to claim 1, wherein the on-board node is an unmanned vehicle.

3. An indoor vehicle locating system according to claim 1, wherein UWB radio band is designed with center frequency of 25.625GHz, -10dB bandwidth of 4GHz, signal pulse width <400ps, power spectral density less than 41.3 dBm/MHz.

4. An indoor vehicle location system as recited in claim 1, wherein the vehicle-mounted node is further configured to effect location using a TDOA location method.

5. An indoor vehicle positioning system as defined in claim 1, wherein the on-board node further comprises: the antenna module is used for sending and receiving UWB signals; because the vehicle-mounted node is powered by a continuous power supply, the antenna module has an adjustable power amplification function and can enlarge the effective signal coverage radius by 30-50 meters.

6. An indoor vehicle positioning system as defined in claim 1, wherein the on-board node further comprises:

the CDMA/OFDM MIMO module is used for providing a multi-channel communication function and selecting a corresponding channel and bandwidth according to the requirements of audio, video and sensor data on transmission quality;

the I/O input/output module is used for providing audio, video, image, sensor and external network link ports, can display positioning information by combining with an electronic map, carries sensors with different functions and is connected with an external network so as to remotely guide and master the basic situation of a site in real time.

Technical Field

The embodiment of the invention relates to the technical field of positioning, in particular to an indoor positioning system.

Background

The development of the automatic driving in China is extremely rapid, but in the long run, the commercial landing of the unmanned driving seems to be very difficult, and the unmanned driving in a specific scene becomes a better node for the unmanned landing, so that the unmanned driving in a special scene is more in line with the expectation and the use of the product functions of consumers. And a parking lot, as such a specific scene, will be the best place for unmanned commercialization. In 7 months in 2019, in a Baidu AI meeting, an unmanned commercialization scheme with indoor autonomous parking as a core is also announced. However, when a vehicle enters an indoor parking lot, the vehicle cannot receive a GPS signal, and cannot perform positioning using the GPS signal.

Disclosure of Invention

Therefore, the embodiment of the invention provides an indoor vehicle positioning system to solve the problem that vehicle positioning cannot be performed due to the fact that no GPS signal exists in the prior art.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

according to a first aspect of embodiments of the present invention, an indoor vehicle positioning system includes:

a fixed node and a vehicle-mounted node;

the vehicle-mounted node is used for realizing self position positioning by utilizing the fixed node; and implementing path planning;

the fixed nodes comprise bridge nodes and anchor nodes, and are suitable for networking scenes for accurately positioning and acquiring sensor parameter information such as site video, audio, vibration and the like;

the on-vehicle node includes: the UWB signal processing module is used for modulating and demodulating the UWB signals;

the system data processing and central control module is used for processing the dynamic three-dimensional positioning data and synchronizing the real-time positioning data and the data transmission between the nodes;

the fast dynamic autonomous networking module is used for searching, automatically initially positioning and establishing a network for the nodes;

and rapidly positioning the vehicle through the vehicle-mounted node and the fixed node.

Further, the fixed node and the vehicle-mounted node are communicated through the MIMO communication system.

Furthermore, in the UWB wireless frequency band, the center frequency is designed to be 25.625GHz, the bandwidth of-10 dB is designed to be 4GHz, the pulse width of a signal is less than 400ps, and the power spectral density is less than 41.3 dBm/MHz.

Further, the vehicle-mounted node is also used for realizing positioning by using a TDOA positioning method.

Further, the vehicle-mounted node further comprises: the antenna module is used for sending and receiving UWB signals; because the vehicle-mounted node is powered by a continuous power supply, the antenna module has an adjustable power amplification function and can enlarge the effective signal coverage radius by 30-50 meters;

further, the vehicle-mounted node further comprises: the CDMA/OFDM MIMO module is used for providing a multi-channel communication function and selecting a corresponding channel and bandwidth according to the requirements of audio, video and sensor data on transmission quality;

the I/O input/output module is used for providing audio, video, image, sensor and external network link ports, can display positioning information by combining with an electronic map, carries sensors with different functions and is connected with an external network so as to remotely guide and master the basic situation of the site in real time.

The embodiment of the invention has the following advantages:

the system integrates UWB real-time positioning and tracking, a mobile fast self-organizing dynamic network and an OFDM/CDMA MIMO wireless communication system, and has the characteristics of low power consumption, continuous working time, high positioning accuracy and the like.

The breakthrough of the core technology enables an economical and practical full wireless application system capable of expanding capacity and increasing volume to be built indoors. The high-precision UWB positioning algorithm is mastered, the differential arrival time and the arrival angle of UWB pulse signals of a plurality of reference points are combined, an extended Kalman filtering model is used for evaluation, and centimeter-level target positioning and real-time tracking precision are synchronously provided. The UWB signal has the characteristics of ultra wide band, narrow pulse and low power spectral density, is safe, reliable and anti-interference, and is suitable for various severe complex environments such as urban areas, indoor areas, underground areas and the like; through various application technical means, the positioning service technology under the non-visual condition is realized to solve the visual range obstacle trouble caused by the complex indoor environment. The positioning precision can reach 10 cm under any complex indoor environment; the traditional indoor positioning mode is eliminated, and the positioning model similar to a GPS system is adopted, so that the capacity limit is completely eliminated. If the target is positioned, the system is only used for navigation and positioning, and the system capacity is unlimited. If data needs to be transmitted in two directions, the system capacity is 10 times that of the common local area network. Meanwhile, the system has no delay condition. By combining various wireless technologies including WIFI, 4G, 5G, Bluetooth and the like, a complete full wireless network solution can be provided; compared with other low-cost solutions, the method can provide more than 10 times of precision; compared with solutions with the same precision, the cost can be saved by 75%.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other implementation drawings can be derived from the drawings provided by those of ordinary skill in the art without any creative effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance.

FIG. 1 is a schematic diagram of a TDOA locating method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a mobile fast ad hoc dynamic network according to an embodiment of the present invention;

FIG. 3 is a block diagram of a network module according to an embodiment of the present invention;

fig. 4 is a diagram illustrating a real-time MIMO communication system based on CDMA/OFDM according to an embodiment of the present invention.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

However, the prior art has the problems that the vehicle enters an indoor parking lot and cannot receive a GPS signal, so that how to determine the position of the vehicle, how to determine a parking space allocated by a system and how to plan and navigate to a specific parking space through a path.

Based on this, this application has proposed an indoor vehicle positioning system, includes:

the system comprises a fixed node and a vehicle-mounted node; the fixed nodes include bridge nodes and anchor nodes.

The vehicle-mounted node is used for realizing self position positioning by utilizing the fixed node; and implementing path planning.

The vehicle-mounted node is an unmanned vehicle.

The indoor and outdoor integrated navigation system integrating Ultra Wide Band (UWB) real-time positioning and tracking, fast self-organizing dynamic networks, orthogonal frequency division multiplexing/code division multiple access (OFDM/CDMA) multiple-input multiple-output (MIMO), audio and video and multi-sensor data communication is researched and developed, comprises bridge nodes, anchor nodes and vehicle-mounted nodes, and can achieve navigation and path planning. As shown in fig. 1, the project is significant for indoor navigation and path planning of the unmanned vehicle.

The positioning navigation system comprises bridge nodes, anchor nodes, vehicle-mounted nodes and the like, and the functions of the nodes are shown in figure 2. Wherein, on-vehicle node includes: the UWB signal processing module is used for being responsible for modulating and demodulating the UWB signals;

the system data processing and central control module is used for processing the dynamic three-dimensional positioning data and synchronizing the real-time positioning data and the data transmission between the nodes;

the fast dynamic autonomous networking module is used for searching, automatically initially positioning and establishing a network for the nodes;

the antenna module is used for sending and receiving UWB signals; because the vehicle-mounted node is supplied with power by a continuous power supply, the antenna module has an adjustable power amplification function and can enlarge the effective signal coverage radius by 30-50 meters;

the CDMA/OFDM MIMO module is used for providing a multi-channel communication function and selecting a corresponding channel and bandwidth according to the requirements of audio, video and sensor data on transmission quality;

the I/O input/output module is used for providing audio, video, image, sensor and external network link ports, can display positioning information by combining with an electronic map, carries sensors with different functions and is connected with an external network so as to remotely guide and master the basic situation of the site in real time.

The bridge nodes and the anchor nodes are mainly suitable for networking scenes, and can efficiently and accurately position and collect information such as sensor parameters of field video, audio, vibration and the like.

The method mainly comprises the following steps: a UWB signal processing module; the output power of the antenna module is adjustable, and the effective signal coverage radius is 50-100 meters; the CDMA/OFDM MIMO module and the I/O module provide audio input/output, video input, image input, and sensor data input/output functions.

The portable node can be used for UWB tags carried by workers in daily work such as mines and the like, is small and exquisite in design and convenient to wear, is powered by a button battery, is in a dormant state at ordinary times, presses a button when a dangerous case occurs, activates a low-power UWB transceiver module, positions the signal emission rate for 1-2 times/second, effectively covers a radius of about 50-100 meters, continuously works for more than 150 hours, and can accurately display the positions of personnel on an electronic map of a vehicle-mounted high-power node through self-organized network positioning, so that the rapid and accurate positioning is facilitated.

Real-time accurate positioning tracking based on UWB technology

In a specific complex severe environment, satellite positioning is affected by a plurality of factors such as signal attenuation, multipath interference and the like, and is difficult to use indoors or underground tunnels; WiFi indoor positioning accuracy is poor and automatic topology is difficult; radio Frequency Identification (RFID) location technology requires that a radio frequency sensing unit and an inductive tag be preset and networked with each other, and cannot be adapted to navigation requirements. According to the Ultra Wide Band (UWB) wireless frequency band defined by the International telecommunication Union in 2005, UWB has no interference to human bodies and other devices in the same frequency domain, can provide centimeter-level high positioning accuracy, has the advantages of multipath fading resistance, strong penetration capacity and the like, and has wide application in the fields of emergency rescue and disaster relief, medical care, indoor motion tracking and the like.

The UWB wireless frequency band defined by the International telecommunication Union in 2005 is used, the design center frequency is 25.625GHz, the-10 dB bandwidth is 4GHz, the signal pulse width is less than 400ps, and the power spectral density is less than 41.3 dBm/MHz. An ARM processor STM32F105 and a UWB transceiver module DW1000 are adopted.

(1) The UWB location algorithm TDOA.

Common methods based on the UWB indoor positioning technology include a signal arrival angle AOA, a signal arrival time TOA, a signal arrival time difference TDOA, and a signal strength RSSI. When the AOA and RSSI methods are used alone, the positioning accuracy cannot be effectively guaranteed in a complex indoor environment, and the methods are generally used as auxiliary methods for TOA and TDOA. TDOA is an improved method based on TOA, has the characteristics of high positioning precision, strong anti-multipath fading capability and the like, does not need strict synchronization of a base station and a moving target in time, and is easier to realize in practical application. Therefore, the TDOA location method is adopted in the present application.

(2) Mobile ad hoc dynamic network architecture

The method and the device use the rapid self-organizing dynamic network architecture, and have the advantages of high flexibility, good mobility, good reliability and the like. The network utilizes a Generalized multi-protocol Label Switching (GMPLS) protocol to provide a 3D stereoscopic real-time network architecture, and is capable of fusing with input scene map data to realize real-time dynamic scene graphs providing real-time positioning and tracking for motor vehicles, people, and specific targets within a coverage area, as shown in fig. 4. The ultra-wideband ultra-narrow pulse has the characteristics of ultra-strong anti-interference and small attenuation, effectively enhances the stability of the UWB network in a complex environment, and particularly has an effective function of an ultra-wideband signal in resisting multipath interference caused by complex building structures, obstacles and tortuous channels in a complex indoor or underground tunnel environment.

(3) Mobile self-organizing network hardware design circuit scheme

The application starts from the actual application requirement, based on the STM32F105 processor, designs and realizes the embedded network access equipment, and is characterized in that: independent of network equipment types, hardware resources and an operating system, multiple data interfaces interacting with the outside are provided, access of various small network nodes such as sensor nodes or single nodes can be achieved, and the problem of interconnection and intercommunication of various nodes is solved.

(4) Mobile network software design scheme

The access equipment is transplanted with a VxWorks for ARM operating system, and a driving program is developed on the operating system.

(5) Real-time MIMO communication system based on CDMA/OFDM

In emergency situations, multipath interference caused by indoor, dense building groups, subway tunnels and mines, including complex building structures, obstacles and tortuous channels can cause signal delay jitter, data loss and out-of-sequence.

The MIMO communication system is formed by an OFDM/CDMA (orthogonal frequency division multiplexing and code division multiplexing) system, and communication among self-organizing network units is achieved in real time.

The system integrates UWB real-time positioning and tracking, a mobile fast self-organizing dynamic network and an OFDM/CDMA MIMO wireless communication system, and has the characteristics of low power consumption, long continuous working time, extremely high positioning accuracy and the like.

The breakthrough of the core technology enables an economical and practical full wireless application system capable of expanding capacity and increasing volume to be built indoors. The high-precision UWB positioning algorithm is mastered, the differential arrival time and the arrival angle of UWB pulse signals of a plurality of reference points are combined, an extended Kalman filtering model is used for evaluation, and centimeter-level target positioning and real-time tracking precision are synchronously provided. The UWB signal has the characteristics of ultra wide band, narrow pulse and low power spectral density, is safe, reliable and anti-interference, and is suitable for various severe complex environments such as urban areas, indoor areas, underground areas and the like.

Through various application technical means, the positioning service technology under the non-visual condition is realized to solve the visual range obstacle trouble caused by the complex indoor environment. The positioning precision can reach 10 cm under any complex indoor environment.

The traditional indoor positioning mode is eliminated, and the positioning model similar to a GPS system is adopted, so that the capacity limitation is completely eliminated. If the target is positioned, the system is only used for navigation and positioning, and the system capacity is unlimited. If data is transmitted in two directions, the system capacity is 10 times that of the common local area network. Meanwhile, the system has no delay condition.

By combining multiple wireless technologies, including WIFI, 4G, 5G, bluetooth, etc., a complete all-wireless network solution can be provided.

Compared with other low-cost solutions, the method can provide precision which is 10 times higher; compared with solutions with the same precision, the cost can be saved by 75%.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.