A kind of tunnel Vehicle position and navigation systemTechnical field
The utility model is related to vehicle mounted guidance technical fields, more particularly, to a kind of tunnel Vehicle position and navigation system.
Background technology
Vehicle mounted guidance technology is to rely on navigation equipment and receives at least 3 satellite institutes in earth-circling 24 GPS satellitesThe position coordinates of transmission, and determine that vehicle accurate location in electronic map, existing navigation system are complete in conjunction with electronic mapThe navigation signal sent out dependent on navigation satellite navigates, and as means of transportation are constantly flourishing, tunnel quantity is more and more, bySatellite-signal can not be received in tunnel in navigation system, to obtain the current location of navigation equipment, vehicle is in tunnelDuring middle traveling, navigation equipment just can not be normally that user navigates, and make troubles to driver.
Invention content
The technical issues of the utility model can not be navigated aiming at existing navigation equipment in tunnel, provides one kindCan in tunnel accurate navigation tunnel Vehicle position and navigation system.
For this purpose, the utility model includes the multiple UWB locating base stations being set in tunnel, is set on each target vehiclePositioning label, the central server being connect with POE interchangers, is consolidated the POE interchangers being connect respectively with each UWB locating base stationsIntegrated navigation module and the inertial navigation module being scheduled in target vehicle.
Preferably, each POE interchangers can connect multiple UWB locating base stations, and each central server can connect moreA POE interchangers.
Preferably, inertial navigation module is MEMS inertial navigation modules, is fixed on position of centre of gravity inside target vehicle, is used forMeasure the navigation information of target vehicle.
Preferably, integrated navigation module uses STM-32 series monolithics as data processing unit.
Preferably, the navigation results of integrated navigation module output are shown by liquid crystal micro screen and are made for user's navigationWith.
Preferably, wireless communication module is equipped in UWB locating base stations, integrated navigation module passes through nothing with UWB locating base stationsThe mode of line communication realizes the real-time Transmission of information.
Preferably, UWB locating base stations are mounted on tunnel internal top, 80 meters of each UWB locating base stations interval distance.
Preferably, positioning label is miniature flat label, is fixed at the top of target vehicle.
What the utility model obtained has the beneficial effect that：
(1) strong antijamming capability：Target vehicle is positioned using UWB location technologies, is not believed by high-voltage line, mobile phoneNumber, the interference of the electromagnetic signals such as radio station, accurate positioning, and UWB positioning signal penetration capacitys are strong, the big vehicle of size difference in tunnelBetween block to its location precision very little.
(2) positioning system power is small：Vehicle location label 1Hz refresh rate power consumptions are 0.6mW, radiation of the label to human bodyLess than 1 the percent of mobile phone, locating base station power consumption is 5W, both has considerably long cruising ability.
(3) positioning system capacity is big：Single region tunnel can be compatible with more positioning labels of 5000-10000, and positioning signal is coveredLid range is wider, and the coverage area of this one-dimensional positioning pattern in tunnel, single base station location signal is 100-150 meters.
(4) positioning accuracy is high：UWB location technology precision is usually 10-20 centimetres, by itself and inertial navigation system progress pineAfter coupling, positioning accuracy is further enhanced, it is sufficient to meet vehicle navigation needs in tunnel.
(5) stability is good：Inertial navigation module does not depend on external information, can independent navigation, all weather operations provides continuousProperty the navigation informations such as good and low noise position, speed and posture, data updating rate is high, short-term accuracy and stability are good.
The utility model provides seamless coverage in tunnel and is accurately positioned navigation system, and the height of real-time stabilization is provided for vehicleUWB positioning systems and inertial navigation system are carried out good combination by precision location navigation service, and UWB positioning systems haveVery strong ability to communicate and the positioning accuracy for meeting navigation request, inertial navigation system can provide continuous short-term high precision positionIt sets, speed and posture information, after the two information is carried out loose coupling with filtering algorithm, positioning accuracy can not only be improved and may be used alsoTo carry out timely error correction to inertial navigation system, and then reliable navigation letter in real time is provided for vehicle traveling in tunnelBreath；Integrated navigation module data processing unit uses STM-32 series monolithics, facilitates the improvement at any time and update of algorithm routine,The liquid crystal display of output module exports reliable navigation information in real time；It, can also be into using the identity recognition function of positioning labelThe detection of row suspect vehicle provides work facility for public security department.
Description of the drawings
Fig. 1 is the system deployment and work sheet of the present embodiment；
Fig. 2 is the system structural framework figure of the present embodiment；
Fig. 3 is integrated navigation modular structure functional block diagram.
Specific implementation mode
Specific embodiment of the present utility model is described in detail with reference to the accompanying drawings.
As depicted in figs. 1 and 2, the utility model includes the multiple UWB locating base stations being set in tunnel, is set to each meshPositioning label, the POE interchangers being connect respectively with each UWB locating base stations on mark vehicle, the center that is connect with POE interchangersServer, the integrated navigation module being fixed in target vehicle and inertial navigation module.
UWB locating base stations are mounted on tunnel internal top optimum receiving signal position, 80 meters of each UWB locating base stations intervalDistance, positioning label is the miniature flat label being fixed at the top of target vehicle, does not influence vehicle beauty；It is independently sharp to position labelEmit positioning signal, UWB locating base station real-time reception positioning signals, multiple UWB to UWB locating base stations with ultra-wideband impulse signalPositioning signal is transmitted to central server by POE interchangers and carries out position, velocity calculated by base station, obtains the position of target vehicleIt sets and velocity information.
The position and speed information of target vehicle is transferred back to UWB locating base stations by central server by POE interchangers,It is equipped with wireless communication module in UWB locating base stations, the position and speed information of target vehicle can be real-time transmitted to integrated navigationModule.
Inertial navigation module is MEMS inertial navigation modules, position of centre of gravity inside target vehicle is fixed on, to improve targetThe measurement accuracy of acceleration in vehicle movement, inertial navigation module are used to measure the navigation information of target vehicle, including position, speedNavigation information is transferred to integrated navigation module by degree and posture information, inertial navigation module.
Integrated navigation module uses STM-32 series monolithics as data processing unit, using Extended Kalman filterThe target vehicle position and speed information that method sends the navigation information that is obtained from inertial navigation module with UWB locating base stations intoRow fusion, and then accurate navigation results are obtained, the navigation results of integrated navigation module output are shown by liquid crystal micro screen displayTo navigate for user and use.
As shown in figure 3, inertial navigation module is made of inertia device and inertia solving unit, wherein inertia device includes oneGroup gyroscope and acceierometer sensor, measures the angular speed and acceleration of mobile terminal respectively, and by this group of angular speed andAcceleration issues inertia solving unit, calculates position, speed and the posture information of target vehicle.
Integrated navigation mould UWB data obtaining modules in the block are mainly used to carry out communication acquisition target with UWB locating base stationsVehicle location and velocity information, the difference of the position, speed that later export it with inertial navigation unit is as integrated navigation mouldThe input value of block, the algorithm that integrated navigation module uses are mainly Extended Kalman filter, the result that integrated navigation module resolvesInclude the error estimate of inertia device, error correction is carried out to inertia device, inertial navigation unit uses amount of error correctionThe angular speed and acceleration value at current time are corrected, and according to the position data of last moment, calculate current movementPosition, speed and the posture information at end, while position, speed and posture information are input to integrated navigation module, so that it is finalExport high-precision navigation information.
When target vehicle, which enters tunnel, to pass through satellite positioning, positioning label starts station-keeping mode, utilizes ultra wide bandPulse signal launches position data, and UWB locating base stations receive in tunnel, and it is different fixed to calculate the arrival of vehicle location label signalThe time difference of position base station, then processing software resolves location information in central server, finally obtains target vehiclePosition calculates the speed of target vehicle movement, inertial navigation module by fixed range between adjacent position and time differenceThe two information is merged and carries out integrated navigation, led by output target vehicle position, speed and posture information, integrated navigation module in real timeBoat result is shown to navigate for user by liquid crystal micro screen and be used, and realizes the essence of driving vehicle continuous seamless covering in tunnelQuasi real time location navigation.
Only as described above, only specific embodiment of the utility model, when the utility model cannot be limited with thisThe range of implementation, therefore the displacement of its equivalent assemblies, or according to equivalent variations made by the utility model patent protection domain and change,It all should still belong to the scope that the utility model claims book is covered.