CN110133698B - UWB positioning method and system for automatic navigation and positioning of agricultural operation machinery - Google Patents

UWB positioning method and system for automatic navigation and positioning of agricultural operation machinery Download PDF

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CN110133698B
CN110133698B CN201910511073.XA CN201910511073A CN110133698B CN 110133698 B CN110133698 B CN 110133698B CN 201910511073 A CN201910511073 A CN 201910511073A CN 110133698 B CN110133698 B CN 110133698B
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蒋蘋
胡文武
罗亚辉
石毅新
王奕
黄腾达
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Hunan Agricultural University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a UWB positioning method and a system for automatic navigation positioning of agricultural operation machinery, wherein the method is characterized in that the elevation of a base station is regulated, the distance between the base station and a mobile station is measured in real time, the height corresponding to the shortest distance is used as the height of the base station and the mobile station at the same level, the GPS distance between the base stations is read through a GPS/BD differential positioning system of the base station, the positioning coordinates of the base stations and the positioning coordinates based on the base stations and the distance between the mobile station and the base stations are obtained through calculation according to GPS distance dissociation, the coordinates of the mobile station are obtained, the technical problem that the automatic navigation positioning precision of the existing agricultural operation machinery is low is solved, the base station is positioned at the same level through the shortest distance measurement principle between the base station and the mobile station, the positioning coordinates of the base station in the operation area of the same level can be accurately obtained, and finally the mobile station coordinates with high precision can be obtained through quick calculation.

Description

UWB positioning method and system for automatic navigation and positioning of agricultural operation machinery
Technical Field
The invention relates to the technical field of navigation and positioning of farmland operation machinery, in particular to an Ultra Wide Band (UWB) positioning method and system for automatic navigation and positioning of agricultural operation machinery.
Background
In the aspect of navigation positioning technology of farmland operation machinery, geomagnetic pre-burying, GPS (Global Positioning System ) positioning and laser navigation positioning are generally adopted, in the process of local positioning, how to realize accurate position positioning of a land block and accurate cost performance navigation positioning in an operation area, especially navigation positioning of a small field, is always the key point of research, the existing geomagnetic pre-burying construction and later use cost are relatively high, the cost of a GPS positioning system is high, and the GPS positioning system is greatly influenced by environment (antenna, leaf and the like), so that the automatic navigation positioning precision is low.
Disclosure of Invention
The UWB positioning method and system for automatic navigation and positioning of the agricultural operation machine provided by the invention solve the technical problem of low automatic navigation and positioning precision of the existing agricultural operation machine.
In order to solve the technical problems, the UWB positioning method for automatic navigation and positioning of agricultural operation machinery provided by the invention comprises the following steps:
the method comprises the steps of adjusting lifting of base stations, measuring the distance between the base stations and a mobile station in real time, and taking the height corresponding to the shortest distance as the height of the base stations and the mobile station at the same level, wherein the number of the base stations is at least four, the base stations are divided into a master base station with RFID labels and a slave base station without RFID labels, the mobile station is arranged on an agricultural working machine, and the base stations are arranged around the mobile station;
reading GPS distances among the base stations through a GPS/BD differential positioning system of the base stations, and obtaining positioning coordinates of the base stations according to GPS distance dissociation calculation;
and calculating to obtain the coordinates of the mobile station based on the positioning coordinates of the base station and the distance between the mobile station and the base station.
Further, the positioning coordinates of the base station obtained according to the GPS range dissociation calculation are specifically:
and according to the GPS distance, the positioning coordinates of the base station of the working area taking the main base station as the origin are obtained through calculation.
Further, based on the positioning coordinates of the base station and the distance between the mobile station and the base station, the calculating to obtain the coordinates of the mobile station includes:
switching modes of base stations, entering a base station-slave station mode, acquiring UWB distances between the base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to GPS distances;
and according to the communication parameters after the linear calibration, the positioning coordinates of the base station and the distance between the mobile station and the base station, calculating to obtain the coordinates of the mobile station.
Further, after obtaining the positioning coordinates of the base station according to the GPS range resolution calculation, the calculating before obtaining the coordinates of the mobile station based on the positioning coordinates of the base station and the distance between the mobile station and the base station includes:
and acquiring beacon operation interval information read according to the RFID tag of the main base station and operation interval boundary information corresponding to the beacon operation interval.
Further, the calculating to obtain the coordinates of the mobile station further includes:
according to the coordinates of the mobile station, obtaining the azimuth angle of the antenna of the base station relative to the antenna of the mobile station;
and controlling the antenna of the base station to always point to the antenna of the mobile station according to the azimuth angle.
Further, according to the azimuth angle, the antenna of the control base station always points to the antenna of the mobile station is specifically:
and controlling the base station to rotate the motor according to the azimuth angle, so that the antenna of the base station always points to the antenna of the mobile station.
Further, according to the azimuth angle, the base station rotating motor is controlled, so that the antenna of the base station always points to the antenna of the mobile station, and then the method further comprises the following steps:
and establishing an operation area electronic map database based on the RFID of the main base station as a reference.
Further, the number of base stations is 4.
Further, the antenna of the base station is a directional antenna, and the antenna of the mobile station is an omni-directional antenna.
The UWB positioning system for automatic navigation and positioning of agricultural operation machinery provided by the invention comprises:
the method comprises the steps of a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of the UWB positioning method for automatic navigation positioning of the agricultural working machine are realized when the processor executes the computer program.
Compared with the prior art, the invention has the advantages that:
according to the UWB positioning method and system for automatic navigation and positioning of the agricultural operation machine, the elevation of the base station is adjusted, the distance between the base station and the mobile station is measured in real time, the height corresponding to the shortest distance is used as the height of the base station and the mobile station at the same level, the GPS distance between the base stations is read through a GPS/BD (Global Positioning System/BEIDOU) differential positioning system of the base station, the positioning coordinates of the base stations and the positioning coordinates based on the base stations and the distance between the mobile station and the base stations are obtained according to GPS distance dissociation calculation, the coordinates of the mobile station are obtained through calculation, the technical problem that the automatic navigation and positioning accuracy of the existing agricultural operation machine is low is solved, the base station is located at the same level according to the approximately horizontal operation environment of a paddy field operation area, the base station and the mobile station positioning distance is measured according to the shortest distance measurement principle of the base station elevation change, and the GPS/BD differential positioning system of the base station can accurately obtain the positioning coordinates of the base station at the same level, and finally the mobile station coordinates with high accuracy are obtained.
Drawings
FIG. 1 is a flowchart of a UWB positioning method for automatic navigation positioning of agricultural work machines according to an embodiment of the present invention;
FIG. 2 is a flowchart of a UWB positioning method for automatic navigation positioning of agricultural work machines according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a base station of an operation area with a primary base station as an origin in a second embodiment of the present invention;
fig. 4 is a block diagram of a UWB positioning system for automatic navigation positioning of an agricultural work machine according to a second embodiment of the present invention.
Reference numerals:
10. a memory; 20. a processor.
Detailed Description
The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments are shown, for the purpose of illustrating the invention, but the scope of the invention is not limited to the specific embodiments shown.
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Example 1
Referring to fig. 1, a UWB positioning method for automatic navigation positioning of an agricultural working machine according to an embodiment of the present invention includes:
step S101, lifting of base stations is adjusted, distances between the base stations and the mobile stations are measured in real time, the height corresponding to the shortest distance is used as the height of the base stations and the mobile stations at the same level, wherein the number of the base stations is at least four, the base stations are divided into a master base station with RFID labels and a slave base station without RFID labels, the mobile stations are arranged on agricultural working machines, and the base stations are arranged around the mobile stations;
step S102, reading GPS distances between base stations through a GPS/BD differential positioning system of the base stations, and obtaining positioning coordinates of the base stations according to GPS distance dissociation calculation;
step S103, based on the positioning coordinates of the base station and the distance between the mobile station and the base station, the coordinates of the mobile station are obtained through calculation.
According to the UWB positioning method for automatic navigation and positioning of the agricultural operation machine, the elevation of the base station is adjusted, the distance between the base station and the mobile station is measured in real time, the height corresponding to the shortest distance is used as the height of the base station and the mobile station at the same level, the GPS distance between the base stations is read through the GPS/BD differential positioning system of the base station, the positioning coordinates of the base stations and the positioning coordinates based on the base stations and the distance between the mobile station and the base stations are obtained according to GPS distance dissociation calculation, the coordinates of the mobile station are obtained through calculation, the technical problem that the automatic navigation and positioning accuracy of the existing agricultural operation machine is low is solved, the base station is located at the same level according to the approximately horizontal operation environment of a paddy field operation area through the shortest distance measurement principle of the base station elevation change base station and the mobile station positioning point, and the positioning coordinates of the base station at the same level can be accurately obtained through the GPS/BD differential positioning system of the base station, and finally the mobile station coordinates with high accuracy are obtained through quick calculation.
Specifically, according to the embodiment, the base station is positioned on the same horizontal plane by the shortest distance measurement principle between the base station and the mobile station through the elevation change of the base station, and compared with the traditional method of reading three-dimensional coordinates through a GPS/BD differential positioning system, the embodiment can more accurately read the positioning coordinates of the base station in the operation area, so that the mobile station coordinates with high precision are obtained through calculation; on the other hand, the complexity of mobile station coordinate calculation is greatly simplified due to the adoption of the positioning coordinates of the two-dimensional operation area base station, so that the base station is adjusted to be in the same horizontal plane, and the mobile station coordinate can be quickly obtained through the read positioning coordinates of the two-dimensional operation area base station.
In addition, the embodiment of the invention obtains the serial numbers of the corresponding field blocks through the RFID (Radio Frequency Identification, radio frequency identification tag) and the RFID reader-writer of the main base station which are fixed in advance, and obtains the positioning information of the four base stations of the field blocks remotely through GPRS, thereby realizing the acquisition of the unique associated positioning parameters after single accurate positioning.
Example two
Referring to fig. 2, a UWB positioning method for automatic navigation positioning of an agricultural working machine according to a second embodiment of the present invention includes:
step S201, lifting of the base station is adjusted, the distance between the base station and the mobile station is measured in real time, the height corresponding to the shortest distance is used as the height of the base station and the mobile station at the same level, wherein the number of the base stations is four, the base stations are divided into a master base station with RFID labels and a slave base station without RFID labels, the mobile station is arranged on an agricultural working machine, and the base stations are arranged around the mobile station.
Specifically, in this embodiment, by installing the fixed base at four positions corresponding to the field, a corresponding RFID tag is installed in one of the four bases, and the RFID tag of this embodiment is used to read the beacon operation interval information. And then fixing the UWB base station support frame on the fixed base, and installing a positioning tag on the agricultural working machine. The mobile station is arranged at the highest position of the agricultural machinery, so that the problem of communication signal weakening caused by shielding is avoided. In this embodiment, the UWB base station with the RFID tag is defined as a master base station, and the other three base stations without the RFID tag are defined as slave base stations. The main base station has a remote network communication function and an RFID beacon information reading function, and a GPS/BD differential positioning system data reading function; the remote network communication function is used to transmit beacon information of a work area to the server and obtain work area boundary information corresponding to the beacon work area and accurate position coordinate information corresponding to the four base stations.
It should be noted that, the base stations in this embodiment all adopt support rods with height adjustment and azimuth adjustment to support, and have azimuth angle detection function, data exchange function with the master station and data reading function of the GPS/BD differential positioning system.
When the base station and the mobile station are adjusted to be at the same level, the distance from the base station to the mobile station is measured in real time by adjusting the lifting control of the base station, the shortest distance position height is obtained as the same level height position of the base station and the mobile station, and the four base stations are obtained to be at the same level height.
According to the method, the base station is positioned on the same horizontal plane by the shortest principle of measuring the fixed-point distance between the base station and the mobile station through the elevation change of the base station, and compared with the traditional method of reading three-dimensional coordinates through a GPS/BD differential positioning system, the method can more accurately read the positioning coordinates of the base station in an operation area, so that the mobile station coordinates with high precision are obtained through calculation; on the other hand, the complexity of mobile station coordinate calculation is greatly simplified due to the adoption of the positioning coordinates of the two-dimensional operation area base station, so that the base station is adjusted to be in the same horizontal plane, and the mobile station coordinate can be quickly obtained through the read positioning coordinates of the two-dimensional operation area base station.
Step S202, reading GPS distance between base stations through a GPS/BD differential positioning system of the base stations, and according to the GPS distance, resolving to obtain positioning coordinates of the base stations in the working area taking the main base station as an origin.
Referring to fig. 3, assuming that the master base station is O point, the other three slave base stations are A, B, C points, and the mobile station is D point, the specific procedure for obtaining the positioning coordinates of the operation area base station with the master base station as the origin is as follows:
firstly, after the corresponding GPS accurate positioning coordinates are obtained through GPS positioning, L can be obtained through direct ranging OA ，L OC ，L AC ，L OB ，L BC According to fig. 3, it is not difficult to calculate the coordinate expression of the positioning coordinates of the work area base station with the master base station as the origin:
Figure BDA0002093492430000051
similarly, it is possible to obtain:
Figure BDA0002093492430000052
wherein the base station O point is a main base station, and defines the O point as a coordinate origin, X 3 Coordinates of base station C point with main base station as origin, (X) 1 ，Y 1 ) Coordinates of the base station A point with the main base station as the origin, (X) 2 ，Y 2 ) The coordinates of the base station B point with the main base station as the origin.
Step S203, switching the modes of the base stations, entering the base station-slave station mode, obtaining UWB distance between the base stations by adopting UWB ranging mode, and carrying out linear calibration on communication parameters according to GPS distance.
Since there is an error in UWB ranging, the distance between the base station and the mobile station obtained according to the UWB ranging mode in this embodiment has a certain error, and thus the distance between the base station and the mobile station is calibrated by performing linear calibration on the communication parameters before resolving to obtain the coordinates of the mobile station in this embodiment.
Since the four points of the mobile station relative to the OABC will change during the positioning process, but L OA ，L OC ，L AC ，L AB The GPS distances are accurately corresponding to the distance precision due to differential positioning, and can be used as calibration parameters for distance measurement.
The corresponding calibration coefficients are as follows:
Figure BDA0002093492430000061
Figure BDA0002093492430000062
wherein a is 0A A is a base station, and O is a secondary station. Distance calibration coefficient of state measurement, a AO For O to be a base station, A is a distance calibration coefficient measured from a station state, L OA For GPS distance, l Measuring OA For UWB distance, and so on, the meaning of the other variables is not described in detail.
In the motion process, the corresponding distance calibration algorithm is as follows:
the corresponding calibration coefficients are as follows:
Figure BDA0002093492430000063
through the above process, the corresponding calibrated l is obtained School OD ，l Correction AD ，l BD school ，l School CD The distance calculation formulas are respectively as follows;
Figure BDA0002093492430000064
wherein l OD 、l AD 、l BD L CD The UWB distance between the base station and the mobile station is obtained according to the UWB ranging mode for the present embodiment.
Step S204, according to the communication parameters after the linear calibration, the positioning coordinates of the base station and the distance between the mobile station and the base station, the coordinates of the mobile station are obtained through calculation.
Specifically, according to the communication parameters after the linear calibration, the positioning coordinates of the base station, and the distance between the mobile station and the base station, the resolving formula for resolving the coordinates of the mobile station is specifically:
Figure BDA0002093492430000065
wherein, the x, y and z coordinates are the coordinates corresponding to the D point on the OABC plane.
In step S205, the azimuth angle of the antenna of the base station with respect to the antenna of the mobile station is obtained based on the coordinates of the mobile station.
Step S206, controlling the base station to rotate the motor according to the azimuth angle, so that the antenna of the base station always points to the antenna of the mobile station.
Since the mobile station changes position at any time in this embodiment, the antenna of the base station is a directional antenna although the antenna of the mobile station is an omni-directional antenna, so in order to ensure the best communication quality, the directional antenna of the base station needs to continuously follow the change of the angle of the omni-directional antenna of the mobile station. Specifically, according to the calculated coordinates of the mobile station, the embodiment first obtains the azimuth angle of the antenna of the base station relative to the antenna of the mobile station, and then controls the base station to rotate the motor according to the azimuth angle, so that the antenna of the base station always points to the antenna of the mobile station, and the signal between the base station and the mobile station is kept strongest, that is, the optimal communication quality is ensured.
In this embodiment, the master base station and the slave base station read GPS positioning data and transmit the GPS positioning data to the master base station, and the master base station transmits the four base station positioning information and the RFID positioning information to the server through the remote transmission network, and the server stores the base station positioning information based on the RFID tag information and obtains the plane coordinate information of the base station of the operation area based on the BD/GPS positioning information and using the master base station as the origin. In a specific implementation process, the agricultural machinery is driven manually or remotely, according to the characteristics of the operation carrier, the operation area perimeter positioning parameters taking the main base station as an origin are obtained around the outer circle of the operation area, and are uploaded to the server through the main base station, so that the server can conveniently establish an operation area electronic map database based on the RFID of the main base station as a reference.
According to the UWB positioning method for automatic navigation and positioning of the agricultural operation machine, the elevation of the base station is adjusted, the distance between the base station and the mobile station is measured in real time, the height corresponding to the shortest distance is used as the height of the base station and the mobile station at the same level, the GPS distance between the base stations is read through the GPS/BD differential positioning system of the base station, the positioning coordinates of the base stations and the positioning coordinates based on the base stations and the distance between the mobile station and the base stations are obtained according to GPS distance dissociation calculation, the coordinates of the mobile station are obtained through calculation, the technical problem that the automatic navigation and positioning accuracy of the existing agricultural operation machine is low is solved, the base station is located at the same level according to the approximately horizontal operation environment of a paddy field operation area through the shortest distance measurement principle of the base station elevation change base station and the mobile station positioning point, and the positioning coordinates of the base station at the same level can be accurately obtained through the GPS/BD differential positioning system of the base station, and finally the mobile station coordinates with high accuracy are obtained through quick calculation.
In addition, the embodiment of the invention adopts the interface of the high-performance differential satellite positioning system and the local positioning system to realize the accurate position high-precision positioning of the operation field block, and obtains the calibration error coefficient of UWB positioning through the known high-precision longitude and latitude parameters among the base stations, so as to carry out error correction and further improve the resolving precision of the mobile station coordinates. The method comprises the steps of obtaining that four base stations are positioned on the same horizontal plane through an approximately horizontal operation environment of a paddy field operation area and through a principle that the fixed-point distance between a base station and a mobile station is measured to be shortest through elevation change of the base stations; the serial numbers of the corresponding field blocks are obtained through the RFID reader-writer of the pre-fixed RFID and the main base station, and the positioning information of the four base stations of the field blocks is obtained remotely through GPRS, so that the unique associated positioning parameters after single accurate positioning are obtained.
Referring to fig. 4, a UWB positioning system for automatic navigation and positioning of an agricultural working machine according to an embodiment of the present invention includes:
the system comprises a memory 10, a processor 20 and a computer program stored in the memory 10 and capable of running on the processor 20, wherein the steps of the UWB positioning method for automatic navigation and positioning of agricultural working machines, which is proposed by the embodiment, are realized when the processor 20 executes the computer program.
The specific working process and working principle of the UWB positioning system for automatic navigation and positioning of an agricultural working machine according to the present embodiment may refer to the working process and working principle of the UWB positioning method for automatic navigation and positioning of an agricultural working machine according to the present embodiment.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A UWB positioning method for automatic navigation positioning of an agricultural work machine, the method comprising:
the method comprises the steps of adjusting lifting of base stations, measuring the distance between the base stations and a mobile station in real time, and taking the height corresponding to the shortest distance as the height of the base stations and the mobile station at the same level, wherein the number of the base stations is at least four, the base stations are divided into a master base station with RFID labels and a slave base station without RFID labels, the mobile station is arranged on an agricultural working machine, and the base stations are arranged around the mobile station;
reading GPS distances among the base stations through a GPS/BD differential positioning system of the base stations, and obtaining positioning coordinates of the base stations according to GPS distance dissociation calculation, wherein the positioning coordinates of the base stations are specifically obtained according to the GPS distance dissociation calculation: according to the GPS distance, the positioning coordinates of the operation area base station taking the main base station as an origin are obtained through calculation;
calculating to obtain coordinates of the mobile station based on the positioning coordinates of the base station and the distance between the mobile station and the base station, wherein calculating to obtain the coordinates of the mobile station based on the positioning coordinates of the base station and the distance between the mobile station and the base station includes:
switching modes of the base stations, entering a base station-slave station mode, obtaining UWB distances between the base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to the GPS distances;
and according to the communication parameters after the linear calibration, the positioning coordinates of the base station and the distance between the mobile station and the base station are calculated to obtain the coordinates of the mobile station.
2. The UWB positioning method for automatic navigation positioning of agricultural work machines according to claim 1, wherein after obtaining the positioning coordinates of the base station from the GPS range dissociation calculation, the calculation before obtaining the coordinates of the mobile station based on the positioning coordinates of the base station and the distance between the mobile station and the base station comprises:
and acquiring beacon operation interval information read according to the RFID tag of the main base station and operation interval boundary information corresponding to the beacon operation interval.
3. The UWB positioning method for automatic navigation positioning of agricultural work machines according to any of the claims 1-2, characterized in that after the solving to obtain the coordinates of the mobile station further comprises:
acquiring the azimuth angle of the antenna of the base station relative to the antenna of the mobile station according to the coordinates of the mobile station;
and controlling the antenna of the base station to always point to the antenna of the mobile station according to the azimuth angle.
4. The UWB positioning method for automatic navigation positioning of agricultural work machines according to claim 3, characterized in that the antenna controlling the base station to always point to the mobile station according to the azimuth angle is specifically:
and controlling the base station to rotate the motor according to the azimuth angle, so that the antenna of the base station always points to the antenna of the mobile station.
5. The UWB positioning method for automatic navigation positioning of agricultural work machines according to claim 4, wherein controlling the base station rotation motor such that the antenna of the base station always points to the antenna of the mobile station according to the azimuth angle further comprises:
and establishing an operation area electronic map database based on the RFID of the main base station as a reference.
6. The UWB positioning method for automatic navigation positioning of agricultural work machines of claim 5 wherein the number of base stations is 4.
7. The UWB positioning method for automatic navigation positioning of agricultural work machines according to claim 6, wherein,
the antenna of the base station is a directional antenna, and the antenna of the mobile station is an omni-directional antenna.
8. A UWB positioning system for automatic navigation and positioning of agricultural work machines, the system comprising:
memory (10), a processor (20) and a computer program stored on the memory (10) and executable on the processor (20), which processor (20) implements the steps of the method according to any of the preceding claims 1 to 7 when said computer program is executed.
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