CN110221329B - UWB positioning system for automatic navigation and positioning of agricultural operation machinery - Google Patents

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

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Publication number
CN110221329B
CN110221329B CN201910511714.1A CN201910511714A CN110221329B CN 110221329 B CN110221329 B CN 110221329B CN 201910511714 A CN201910511714 A CN 201910511714A CN 110221329 B CN110221329 B CN 110221329B
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base station
fixed base
positioning
uwb
positioning system
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CN110221329A (en
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蒋蘋
胡文武
罗亚辉
石毅新
王奕
黄腾达
肖菲菲
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Hunan Agricultural University
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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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides an automatic navigation and positioning UWB positioning system for agricultural operation machinery, which comprises a mobile base station fixedly arranged on the agricultural operation machinery and a fixed base station which is positioned around the mobile base station and fixedly arranged on a supporting bracket, wherein the fixed base station comprises a master fixed base station and at least three slave fixed base stations, an RFID reader and an RFID tag are arranged on the master fixed base station, and UWB positioning tags are arranged on the mobile base station; each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module; the invention solves the technical problem of low automatic navigation positioning precision of the existing agricultural operation machinery.

Description

UWB positioning 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 a UWB positioning 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
In order to solve the technical problems, the invention provides a UWB positioning system for automatic navigation and positioning of agricultural operation machinery, which solves the technical problem of low automatic navigation and positioning precision of the existing agricultural operation machinery.
The utility model provides a UWB positioning system for agricultural operation machinery automatic navigation location, is including the fixed base station of fixed mounting on agricultural operation machinery and be located the fixed base station of moving base station all around and fixed mounting on the support frame, and the fixed base station includes a main fixed base station and at least three follow fixed base station, is provided with RFID reader and RFID label on the main fixed base station, is provided with UWB positioning label on the mobile base station.
Each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module; the UWB ranging module is used for measuring the distance between the fixed base station and the mobile base station in real time, and taking the height corresponding to the shortest distance as the height of the same level of the fixed base station and the mobile base station; the GPS/BD differential positioning system is used for reading the GPS distance between the fixed base stations and obtaining the positioning coordinates of all the fixed base stations in the agricultural operation area by taking the main fixed base station in the fixed base stations as the origin according to GPS distance dissociation calculation; and the processing module is used for calculating and obtaining the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
Further, the fixed base station further includes:
the acquisition module is respectively connected with the GPS/BD differential positioning system and the processing module in a communication way and is used for acquiring the beacon operation interval information read by the RFID reader of the main fixed base station and the operation interval boundary information corresponding to the beacon operation interval.
Further, the processing module comprises:
the calibration unit is used for switching modes of the base stations, entering a master station-slave station mode, acquiring UWB distances between the fixed base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to the GPS distances;
and the calculation unit is used for calculating and obtaining the coordinates of the mobile base station according to the communication parameters after the linear calibration, the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
Further, the fixed base station further includes:
the antenna control module is in communication connection with the processing module and is used for obtaining the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station and controlling the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; the fixed base station is used for controlling the fixed base station to rotate the motor according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station; and the database module is in communication connection with the processing module and is used for establishing an operation area electronic map database based on the RFID of the main base station as a reference.
Further, the antenna of the fixed base station is a directional antenna, and the antenna of the mobile base station is an omni-directional antenna.
Further, the support bracket comprises a thick lifting rod with a cavity structure inside and a wire lifting rod with the bottom embedded into the thick lifting rod from the top end of the thick lifting rod, a support base is sleeved at the bottom end of the thick lifting rod, an upper connecting cover and a lower connecting cover are fixedly connected to the inner part of the wire lifting rod, the upper end and the lower end of the wire lifting rod are respectively and fixedly connected with the cavity structure, a screw motor is arranged on the top surface of the lower connecting cover, and a lifting guide rod is axially arranged inside the thick lifting rod.
The lower end surface of the guide rod and the top end surface of the support base are respectively provided with a first threaded hole along the axial direction of the guide rod, and the lower end of the guide rod is connected with the top end of the support base through a lifting guide nut connected in the first threaded hole; the guide rod upper end face is close to the intermediate position and the lower connecting cover is close to the intermediate position and is provided with a second threaded hole along the axial direction of the guide rod upper end face, the guide rod upper end face is close to the edge position and the lower connecting cover is close to the edge position and is provided with a long through hole along the axial direction of the guide rod upper end face, the guide rod and the wire lifting rod are connected on an output shaft of the screw rod motor through the upper end, the lower end of the guide rod is connected with screw rod threaded connection in the second threaded hole, and one end of the guide rod is fixed on the lower connecting cover, and the other end of the guide rod is sleeved into the long through hole and connected with a plurality of guide rods.
Further, a turntable is sleeved at the upper end part of the wire lifting rod, and a signal box which is mushroom-head-shaped and used for communication and positioning is also connected to the top of the turntable; a slip ring contact is fixedly arranged on the inner top wall of the turntable along the axial direction of the turntable; the steering engine is arranged on the bottom surface of the upper connecting cover, the slip ring circuit board is fixedly arranged on the top surface, the steering engine is in threaded connection with the upper connecting cover, and the end part of an output shaft penetrates through the inside of the turntable and the inner top wall and is fixedly connected with the upper end of the turntable;
the upper connecting cover is fixedly provided with a slip ring circuit board on the top surface, the slip ring circuit board is respectively in communication connection with the steering engine and the screw motor and is used for controlling the lifting of the screw motor and controlling the rotation of the steering engine, the slip ring circuit board is also provided with a slip ring channel, the slip ring channel corresponds to the slip ring contact and is used for triggering the slip ring circuit board to send control signals for the lifting of the screw motor and the rotation of the steering engine.
Further, a battery is arranged between the screw rod motor in the screw lifting rod and the steering engine, a solar panel is further arranged on the outer surface of the screw lifting rod, and the battery and the solar panel are mainly used for providing power for circuits or electronic components in the steering engine, the screw rod motor, the slip ring circuit board, the signal box and the like, and the solar panel can convert solar energy into electric energy outdoors so as to meet outdoor use requirements; and a sealing ring is further arranged between the outer surface of the upper end of the wire lifting rod and the rotary table, the sealing ring is arranged in an annular groove formed in the outer surface of the wire lifting rod along the radial direction, and the sealing ring is used for preventing external water mist and the like from entering the supporting strut in the rotary process of the rotary table.
Further, the upper part of the supporting base is cylindrical and is of a cavity structure, and a second threaded hole corresponding to the screw rod is formed in the middle position of the inner bottom of the supporting base along the axial direction of the supporting base.
Further, the thick lifting rod, the wire lifting rod and the turntable are all cylindrical.
Above-mentioned support frame, through rotatory revolving stage, the slip ring contact slip ring passageway in the revolving stage triggers lead screw motor pivoted control signal, thereby lead screw motor forward and backward rotates drives the lift of silk lifter to realize support frame free flexible, adjust the lift of basic station.
Compared with the prior art, the invention has the advantages that:
according to the UWB positioning system for automatic navigation positioning of the agricultural operation machinery, the lifting of the base stations is adjusted through the supporting bracket, in the lifting process of the base stations, the UWB ranging module measures the distance between the fixed base stations and the mobile base stations in real time, the height corresponding to the shortest distance is used as the height of the fixed base stations and the mobile base stations at the same level, then the GPS/BD differential positioning system reads the GPS distance between the fixed base stations, the positioning coordinates of all the fixed base stations in the agricultural operation area taking the main fixed base station in the fixed base stations as the origin are obtained according to GPS distance dissociation calculation, and finally the processing module obtains the coordinates of the mobile base stations according to the positioning coordinates of the fixed base stations and the distance between the mobile base stations and the fixed base stations.
Drawings
Fig. 1 is a schematic diagram of a primary fixed base station;
fig. 2 is a schematic diagram from a fixed base station;
fig. 3 is a schematic diagram of all base stations in an operation area with a main fixed base station as an origin in a second embodiment of the present invention;
fig. 4 is a schematic structural view of the support bracket.
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
The utility model provides a UWB positioning system for automatic navigation location of agricultural operation machinery, is including the fixed base station of fixed mounting on agricultural operation machinery and be located the fixed base station of moving base station all around and fixed mounting on the support frame, as shown in figure 1 and figure 2, the fixed base station includes a main fixed base station and at least three from the fixed base station, is provided with RFID reader and RFID label on the main fixed base station, is provided with UWB positioning label on the mobile base station.
Each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module; the UWB ranging module is used for measuring the distance between the fixed base station and the mobile base station in real time, and taking the height corresponding to the shortest distance as the height of the same level of the fixed base station and the mobile base station; the GPS/BD differential positioning system is used for reading the GPS distance between the fixed base stations and obtaining the positioning coordinates of all the fixed base stations in the agricultural operation area by taking the main fixed base station in the fixed base stations as the origin according to the GPS distance dissociation calculation; and the processing module is used for calculating and obtaining the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
According to the UWB positioning system for automatic navigation and positioning of the agricultural operation machinery, provided by the embodiment of the invention, the lifting of the fixed base station is adjusted through the support bracket, the distance between the fixed base station and the mobile base station is measured in real time through the UWB ranging module, and the height corresponding to the shortest distance is used as the height of the same level between the fixed base station and the mobile base station; then, reading GPS distances among the fixed base stations through a GPS/BD differential positioning system in the fixed base stations, and obtaining positioning coordinates of all the fixed base stations in an agricultural operation area taking a main fixed base station in the fixed base stations as an origin according to GPS distance dissociation calculation; finally, based on the positioning coordinates of the fixed base stations and the distance between the mobile base stations and the fixed base stations, the coordinates of the mobile base stations are obtained through calculation, the technical problem that the automatic navigation positioning precision of the existing agricultural operation machinery is low is solved, according to the approximately horizontal operation environment of a paddy field operation area, all base stations are located on the same horizontal plane through the principle that the fixed point distance between the fixed base station elevation change base stations and the mobile base stations is the shortest, and therefore the positioning coordinates of all the fixed base stations in the operation area of the same horizontal plane can be accurately obtained through a GPS/BD differential positioning system of the fixed base stations, and finally, the mobile station coordinates with high precision are obtained through quick calculation.
Specifically, according to the method, by means of the shortest fixed-point distance measurement principle of the fixed base station and the mobile base station of the elevation change of the base station, all base stations are located on the same horizontal plane, and compared with the traditional method that a GPS/BD differential positioning system is used for reading three-dimensional coordinates, the UWB positioning system for automatic navigation and positioning of the agricultural operation machinery can be used for accurately reading the positioning coordinates of the mobile base station in an operation area, so that the mobile base station coordinates with high precision are obtained through calculation; on the other hand, the positioning coordinates of the mobile base stations in the two-dimensional operation area are adopted, so that the complexity of the coordinate calculation of the mobile base stations is greatly simplified, and therefore, the UWB positioning system adjusts all the base stations to the same horizontal plane, and can quickly calculate and obtain the coordinates of the mobile base stations through the read positioning coordinates of the mobile base stations in the two-dimensional operation area.
In addition, in the first embodiment of the invention, the number of the corresponding field is obtained through the RFID reader-writer of the pre-fixed RFID (Radio Frequency Identification, radio frequency identification tag) and the main fixed base station, and the positioning information of the four fixed base stations of the field is obtained remotely through GPRS, so that the unique associated positioning parameter acquisition after single accurate positioning is realized.
Example two
The utility model provides a UWB positioning system for agricultural operation machinery automatic navigation location, is including the fixed base station of fixed mounting on agricultural operation machinery and be located the fixed base station of moving base station all around and fixed mounting on the support frame, the fixed base station includes a main fixed base station and at least three follow fixed base station, is provided with RFID reader and RFID label on the main fixed base station, be provided with UWB positioning label on the mobile base station.
Specifically, in this embodiment, the UWB base station with the RFID tag is defined as a master fixed base station, and the other three base stations without the RFID tag are defined as slave fixed base stations; the main fixed 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 for sending the beacon information of the operation area to the server and obtaining the operation interval boundary information of the operation interval corresponding to the beacon and the accurate position coordinate information of the four corresponding base stations; it should be noted that, all the fixed base stations in this embodiment are supported by adopting the supporting struts with height adjustment and azimuth adjustment, and have the azimuth angle detection function, the data exchange function between the slave fixed base station and the master fixed base station, and the data reading function of the GPS/BD differential positioning system.
Specifically, in the embodiment, the fixed base is installed at four positions corresponding to the field, and the corresponding RFID tag is installed on one of the four bases in a matching manner, so that the RFID tag is used for reading the beacon operation interval information; then fixing a support bracket of the UWB base station on a fixed base, and installing a UWB positioning tag on the agricultural operation machine; the mobile base station is arranged at the highest position of the agricultural machinery, so that the problem of communication signal weakening caused by shielding is avoided.
Each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module.
The UWB ranging module is used for measuring the distance between the fixed base station and the mobile base station in real time, and taking the height corresponding to the shortest distance as the height of the same level of the fixed base station and the mobile base station; specifically, when the fixed base station and the mobile base station are adjusted to be at the same level, the distance from the fixed base station to the mobile base station is measured in real time by adjusting the lifting control of the fixed base station, and the shortest distance position height is obtained as the same level height position of the fixed base station and the mobile base station, so that the four fixed base stations are obtained as the reference of the same level height.
The GPS/BD differential positioning system is used for reading the GPS distance between the fixed base stations and obtaining the positioning coordinates of all the fixed base stations in the agricultural operation area by taking the main fixed base station in the fixed base stations as the origin according to the GPS distance dissociation calculation; specifically, as shown in fig. 3, assuming that the master fixed base station in this embodiment is an O point, the other three slave fixed base stations are A, B, C points, and the mobile base station is a D point, the specific procedure for obtaining the positioning coordinates of the base station in the working area with the master fixed 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 main fixed base station as the origin:
Figure BDA0002093704370000051
similarly, it is possible to obtain:
Figure BDA0002093704370000061
wherein the base station O point is a main fixed base station, and defines the O point as the origin of coordinates, X 3 Coordinates of base station C point with main fixed base station as origin, (X) 1 ，Y 1 ) Coordinates of the base station A point with the main fixed base station as the origin, (X) 2 ，Y 2 ) The coordinates of the base station B point with the main fixed base station as the origin.
And the processing module is used for calculating and obtaining the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
Preferably, the fixed base station further includes:
the acquisition module is respectively connected with the GPS/BD differential positioning system and the processing module in a communication way and is used for acquiring beacon operation interval information read by an RFID reader of the main fixed base station and operation interval boundary information corresponding to the beacon operation interval;
preferably, the processing module comprises:
the calibration unit is used for switching modes of the base stations, entering a master station-slave station mode, acquiring UWB distances between the fixed base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to the GPS distances;
specifically, when the calibration unit performs linear calibration, since there is an error in using UWB ranging, there is a certain error in the distance between the base station and the mobile base station obtained according to the UWB ranging mode in this embodiment, so that the embodiment performs linear calibration on the communication parameters before resolving to obtain the coordinates of the mobile base station, thereby implementing calibration on the distance between the base station and the mobile base station.
Since the four points of the mobile base 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 BDA0002093704370000062
Figure BDA0002093704370000063
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 BDA0002093704370000071
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 BDA0002093704370000072
wherein l OD 、l AD 、l BD L CD Obtained for the present embodiment according to UWB ranging modeThe UWB distance between the base station and the mobile base station is obtained.
And the calculation unit is used for calculating and obtaining the coordinates of the mobile base station according to the communication parameters after the linear calibration, the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
Specifically, according to the communication parameters after the linear calibration, the positioning coordinates of the base station, and the distance between the mobile base station and the base station, the resolving formula for resolving the coordinates of the mobile base station is specifically as follows:
Figure BDA0002093704370000073
wherein, the x, y and z coordinates are the coordinates corresponding to the D point on the OABC plane.
Preferably, the fixed base station further includes:
the antenna control module is in communication connection with the processing module and is used for obtaining the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station and controlling the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; the fixed base station is used for controlling the fixed base station to rotate the motor according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station;
and the database module is in communication connection with the processing module and is used for establishing an operation area electronic map database based on the RFID of the main fixed base station as a reference.
Preferably, the antennas of the fixed base station are directional antennas and the antennas of the mobile base station are omni-directional antennas.
Since the mobile base station changes position at any time in this embodiment, the antenna of the fixed base station is a directional antenna although the antenna of the mobile base station is an omni-directional antenna, so in order to ensure the best communication quality, the directional antenna of the fixed base station needs to continuously follow the angle change of the omni-directional antenna of the mobile base station. Specifically, according to the calculated coordinates of the mobile base station, the embodiment firstly obtains the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station, and then controls the fixed base station to rotate the motor according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station, and the signal between the fixed base station and the mobile base station is kept strongest, namely, the optimal communication quality is ensured.
In this embodiment, the master fixed base station and the slave fixed base station read GPS positioning data and transmit the GPS positioning data to the master fixed base station, and the master fixed base station transmits the four fixed 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 calculates and obtains the plane coordinate information of the base station of the working area based on the BD/GPS positioning information and using the master fixed 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 fixed base station as an origin are obtained around the outer circle of the operation area, and are uploaded to the server through the main fixed base station, so that the server can conveniently establish an operation area electronic map database based on the RFID of the main fixed base station as a reference.
According to the UWB positioning system for automatic navigation positioning of the agricultural operation machinery, provided by the embodiment of the invention, the elevation of the fixed base station is regulated, the distance between the base station and the mobile base 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 base 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 base station and the base stations are obtained according to GPS distance dissociation calculation, the coordinates of the mobile base stations are obtained through calculation, the technical problem that the automatic navigation positioning precision of the existing agricultural operation machinery is low is solved, the shortest principle of measuring the fixed base station and the mobile base station fixed point distance is changed according to the approximately horizontal operation environment of a paddy field operation area, all the base stations are positioned at the same level, and therefore the positioning coordinates of the mobile base station at the same level can be accurately obtained through the GPS/BD differential positioning system of the fixed base station, and finally the mobile base station coordinates with high precision 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 and obtain 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 coordinates of the mobile base station. The method comprises the steps of obtaining that four fixed base stations are positioned on the same horizontal plane through an approximately horizontal operation environment of a paddy field operation area and through a shortest fixed point distance measurement principle of a base station and a mobile base station 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 fixed base station, and the positioning information of the four fixed base stations of the field blocks is obtained remotely through GPRS, so that the unique associated positioning parameters after single accurate positioning are obtained.
In addition, in the first embodiment and the second embodiment, as shown in fig. 4, the supporting bracket includes a thick lifting rod 1 with a hollow cavity structure inside, and a wire lifting rod 2 with a bottom end embedded into the thick lifting rod 1 from the top end, wherein a supporting base 3 is sleeved at the bottom end of the thick lifting rod 1, the inside of the wire lifting rod 2 is in a hollow cavity structure, an upper connecting cover 4 and a lower connecting cover 5 are fixedly connected to the upper end and the lower end of the wire lifting rod 2 respectively, a screw motor 7 is arranged on the top surface of the lower connecting cover 5 inside the thick lifting rod 1, and a lifting guide rod 8 is arranged inside the thick lifting rod 1 along the axial direction of the thick lifting rod.
The lower end face of the guide rod 9 and the top end face of the support base 3 are respectively provided with a first threaded hole along the axial direction of the guide rod, and the lower end of the guide rod 9 is connected with the top end of the support base 3 through a lifting guide nut 17 connected in the first threaded hole; the upper end face of the guide rod 9 is close to the middle position and the lower connecting cover 5 is close to the middle position and is provided with a second threaded hole along the axial direction of the guide rod, the upper end face of the guide rod 9 is close to the edge position and the lower connecting cover 5 is close to the edge position and is provided with a long through hole along the axial direction of the guide rod, the guide rod 9 and the wire lifting rod 2 are connected on an output shaft of the screw rod motor 7 through the upper end, the lower end of the guide rod is connected with a screw rod 15 of a second lifting guide nut 18 in the second threaded hole through the threaded connection, and the guide rods 9 are fixed on the lower connecting cover 5 through one end and sleeved in the long through hole through the other end of the guide rod.
The upper end part of the wire lifting rod 2 is sleeved with a rotary table 10, and the top of the rotary table 10 is also connected with a signal box 11 which is mushroom-head-shaped and is used for communication and positioning; a slip ring contact 12 is fixedly arranged on the inner top wall of the turntable 10 along the axial direction of the turntable 10; a steering engine 14 is arranged on the bottom surface of the upper connecting cover 4, a slip ring circuit board 13 is fixedly arranged on the top surface, the steering engine 14 is in threaded connection with the upper connecting cover 4, and the end part of an output shaft penetrates through the inside of the turntable 10 and the inner top wall and is fixedly connected with the upper end of the turntable 10; the upper connecting cover 4 is fixedly provided with a slip ring circuit board 13 on the top surface, the slip ring circuit board 13 is respectively in communication connection with the steering engine 14 and the screw motor 7 and is used for controlling the lifting of the screw motor 7 and the rotation of the steering engine 14, and the slip ring circuit board 13 is also provided with a slip ring channel which corresponds to the slip ring contact 12 and is used for triggering the slip ring circuit board 13 to send out control signals for the lifting of the screw motor 7 and the rotation of the steering engine 14.
A battery is arranged between the screw motor 7 in the wire lifting rod 2 and the steering engine 14, a solar cell panel is further arranged on the outer surface of the wire lifting rod 2, and a sealing ring 15 is further arranged between the outer surface of the upper end of the wire lifting rod 2 and the turntable 10.
The upper part of the supporting base 3 is cylindrical and has a cavity structure therein, and a second threaded hole 16 corresponding to the screw rod 15 is formed in the middle position of the inner bottom along the axial direction thereof.
The thick lifting rod 1, the wire lifting rod 2 and the rotary table 10 are all cylindrical.
According to the support bracket disclosed in the first embodiment and the second embodiment of the invention, through rotating the rotary table 10, the slip ring contact 12 in the rotary table 10 contacts the slip ring channel, a control signal for triggering the rotation of the screw motor 7 is triggered, and the forward rotation or the reverse rotation of the screw motor 7 is controlled; the power output shaft of the screw motor 7 outputs power to the screw 15, so that the screw 15 is driven to rise or fall in a rotating way; thereby further driving the lower connecting cover 5 and the wire lifting rod 2 which are fixedly connected with the screw rod 15 to ascend or descend, and realizing the lifting of the base station adjusted by the support bracket.

Claims (9)

1. The utility model provides a UWB positioning system for agricultural operation machinery automatic navigation location, is including the fixed base station of fixed mounting on agricultural operation machinery and be located the fixed base station of moving base station all around and fixed mounting on the support frame, the fixed base station includes a main fixed base station and at least three follow fixed base station, is provided with RFID reader and RFID label on the main fixed base station, be provided with UWB positioning label on the mobile base station, its characterized in that:
each fixed base station is provided with a UWB ranging module, a GPS/BD differential positioning system and a processing module; the UWB ranging module is used for measuring the distance between the fixed base station and the mobile base station in real time, and taking the height corresponding to the shortest distance as the height of the same level of the fixed base station and the mobile base station; the GPS/BD differential positioning system is used for reading the GPS distance between the fixed base stations and obtaining the positioning coordinates of all the fixed base stations in the agricultural operation area by taking the main fixed base station in the fixed base stations as the origin according to the GPS distance dissociation calculation; the processing module is used for calculating and obtaining the coordinates of the mobile base station according to the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station, wherein the processing module comprises:
the calibration unit is used for switching the modes of the base stations, entering a master station-slave station mode, acquiring UWB distances between the fixed base stations by adopting a UWB ranging mode, and carrying out linear calibration on communication parameters according to the GPS distances;
and the calculation unit is used for calculating and obtaining the coordinates of the mobile base station according to the communication parameters after the linear calibration, the positioning coordinates of the fixed base station and the distance between the mobile base station and the fixed base station.
2. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 1 wherein:
the fixed base station further comprises:
the acquisition module is respectively connected with the GPS/BD differential positioning system and the processing module in a communication way and is used for acquiring beacon operation interval information read by the RFID reader of the main fixed base station and operation interval boundary information corresponding to the beacon operation interval.
3. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 1 wherein:
the fixed base station further comprises:
the antenna control module is in communication connection with the processing module and is used for obtaining the azimuth angle of the antenna of the fixed base station relative to the antenna of the mobile base station according to the coordinates of the mobile base station and controlling the antenna of the fixed base station to always point to the antenna of the mobile base station according to the azimuth angle; the fixed base station is used for controlling the fixed base station to rotate the motor according to the azimuth angle, so that the antenna of the fixed base station always points to the antenna of the mobile base station;
and the database module is in communication connection with the processing module and is used for establishing an operation area electronic map database based on the RFID of the main base station as a reference.
4. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 3, wherein:
the antenna of the fixed base station is a directional antenna, and the antenna of the mobile base station is an omni-directional antenna.
5. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 4 wherein:
the supporting bracket comprises a thick lifting rod with a cavity structure inside and a wire lifting rod with the bottom end embedded into the thick lifting rod from the top end of the thick lifting rod, a supporting base is sleeved at the bottom end of the thick lifting rod, an upper connecting cover and a lower connecting cover are respectively fixedly connected with the inner part of the wire lifting rod with the cavity structure, a screw rod motor is arranged on the top surface of the lower connecting cover inside the thick lifting rod, and a lifting guide rod is arranged inside the thick lifting rod along the axial direction of the thick lifting rod;
the lower end face of the guide rod and the top end face of the support base are respectively provided with a first threaded hole along the axial direction of the guide rod, and the lower end of the guide rod is connected with the top end of the support base through a lifting guide nut connected in the first threaded hole; the guide rod upper end face is close to the intermediate position and the lower connecting cover is close to the intermediate position and is provided with a second threaded hole along the axial direction of the guide rod upper end face, the guide rod upper end face is close to the edge position and the lower connecting cover is close to the edge position and is provided with a long through hole along the axial direction of the guide rod upper end face, the guide rod and the wire lifting rod are connected on an output shaft of the screw rod motor through the upper end, the lower end of the guide rod is connected with screw rods in the second threaded hole through threaded connection, and one end of the guide rod is fixed on the lower connecting cover, and the other end of the guide rod is sleeved into the long through hole through a plurality of guide rods.
6. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:
the upper end part of the wire lifting rod is sleeved with a rotary table, and the top of the rotary table is also connected with a signal box which is mushroom-head-shaped and is used for communication and positioning; a slip ring contact is fixedly arranged on the inner top wall of the turntable along the axial direction of the turntable;
the steering engine is arranged on the bottom surface of the upper connecting cover, the slip ring circuit board is fixedly arranged on the top surface, the steering engine is in threaded connection with the upper connecting cover, and the end part of an output shaft penetrates through the inside of the turntable and the inner top wall and is fixedly connected with the upper end of the turntable;
the upper connecting cover is characterized in that a slip ring circuit board is fixedly arranged on the top surface of the upper connecting cover and is respectively in communication connection with the steering engine and the screw motor and used for controlling the lifting of the screw motor and controlling the rotation of the steering engine, and a slip ring channel is further arranged on the slip ring circuit board and corresponds to the slip ring contact and is used for triggering the slip ring circuit board to send control signals for the lifting of the screw motor and the rotation of the steering engine.
7. The UWB positioning system for automatic navigation positioning of agricultural work machines of claim 6 wherein:
a battery is arranged between the screw rod motor in the wire lifting rod and the steering engine, a solar cell panel is further arranged on the outer surface of the wire lifting rod, and a sealing ring is further arranged between the outer surface of the upper end of the wire lifting rod and the turntable.
8. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:
the upper part of the supporting base is cylindrical and is of a cavity structure, and a second threaded hole corresponding to the screw rod is formed in the middle position of the inner bottom of the supporting base along the axial direction of the supporting base.
9. A UWB positioning system for automatic navigation positioning of agricultural work machines as defined in claim 5, wherein:
the thick lifting rod, the wire lifting rod and the turntable are all cylindrical.
CN201910511714.1A 2019-06-13 2019-06-13 UWB positioning system for automatic navigation and positioning of agricultural operation machinery Active CN110221329B (en)

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CN111580045A (en) * 2020-05-29 2020-08-25 中国电建集团成都勘测设计研究院有限公司 Internal self-positioning method of concrete vibration quality monitoring base station
CN112055043B (en) * 2020-07-20 2021-09-28 江苏农林职业技术学院 Accurately-positioned double-container seedling cultivation system and intelligent operation method thereof
CN114513848B (en) * 2020-11-17 2023-11-14 比亚迪股份有限公司 Indoor positioning method, indoor positioning system and positioning equipment
CN112698375B (en) * 2020-12-14 2023-10-20 国网辽宁省电力有限公司鞍山供电公司 Circuit drawing method for eliminating multi-domain double positioning errors
CN114007261B (en) * 2022-01-05 2022-06-10 华清科盛(北京)信息技术有限公司 UWB positioning system-based three-dimensional positioning method and system for gantry crane hook

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