CN112946712A - Positioning system and method based on RTK and UWB - Google Patents
Positioning system and method based on RTK and UWB Download PDFInfo
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- CN112946712A CN112946712A CN202110121453.XA CN202110121453A CN112946712A CN 112946712 A CN112946712 A CN 112946712A CN 202110121453 A CN202110121453 A CN 202110121453A CN 112946712 A CN112946712 A CN 112946712A
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- uwb
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- 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 discloses a positioning system and a method based on RTK and UWB, relating to the technical field of satellite positioning. An RTK and UWB based positioning method, comprising the steps of: pre-building a UWB base station and setting coordinate information; and acquiring the coordinate information of the positioning module in the coverage area of the UWB base station. The invention has the advantages of high positioning efficiency, high positioning precision, low manufacturing cost, wide application range and easy carrying.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a positioning system and a positioning method based on RTK and UWB.
Background
With the increasing maturity of Global Satellite positioning technology, the application of a high-precision Global Navigation Satellite System (GNSS) in daily production and life of people is more and more abundant, such as mobile Navigation, geodetic survey, high-precision time service, Satellite positioning, and the like. Correspondingly, various related industries also provide a plurality of high-precision receivers of the global satellite navigation system, so that the efficiency of people in production is improved to a great extent, convenience is provided for the life of people, and the quality of the life of people is improved.
However, the current receiver of the global navigation satellite system has the following defects:
1. the global navigation satellite system receivers on the market are generally special receivers, the dependence of the industry is high, and users cannot make secondary customization development on the existing products. The produced receiver can only be used for a certain specific purpose and can not be used for other purposes, thereby causing considerable waste of resources; and when the product can not completely meet the requirements of the user, the user can not modify the related aspects of the product, and only can wait for a new product, so that the waiting period is long. Most importantly, related industry application software cannot be developed by users and third parties, and the application range is narrow.
2. The structure of the receiver of the existing global satellite navigation system is generally a module of the global satellite navigation system, and a central processing unit applied in the industry is additionally arranged, so that the formed product has larger volume and larger power consumption.
3. Data are transmitted between a receiving module and an application processor module of an existing global satellite navigation system receiver generally in low communication modes such as a serial port, a Bluetooth module and a 2.4g wireless module, so that the efficiency is low, and the transmission distance is very limited.
Therefore, we propose a positioning system and method based on RTK and UWB.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a positioning system and a positioning method based on RTK and UWB, so as to overcome the technical problems in the prior related art.
The technical scheme of the invention is realized as follows:
in one aspect of the invention:
an RTK and UWB based positioning system comprising a positioning module and a UWB positioning tag, the positioning module comprising an RTK unit and a UWB unit, wherein the positioning module is configured to acquire coordinate information of the UWB positioning tag (2).
Further, the system also comprises a UWB base station which is used for presetting coordinate information and collecting the coordinate information of the positioning module.
Further, the UWB base stations are at least three.
The system further comprises a processing module and a communication module, wherein the processing module transmits the acquired coordinate information to the server through the communication module.
In another aspect of the invention:
an RTK and UWB based positioning method, comprising the steps of:
pre-building a UWB base station and setting coordinate information;
and acquiring the coordinate information of the positioning module in the coverage area of the UWB base station.
Wherein, still include the following step:
the positioning module acquires coordinate information based on GNSS positioning;
and acquiring the coordinate information of the UWB positioning tag in the coverage area of the positioning module.
The invention has the beneficial effects that:
the RTK unit and the UWB unit are arranged in the positioning module, the coordinate information of the positioning module in the coverage area of the UWB base station is obtained indoors by pre-building the UWB base station and setting the coordinate information, the coordinate information of the positioning module is obtained outdoors by positioning through the GNSS, and the coordinate information of the UWB positioning tag in the coverage area of the positioning module is obtained through the positioning module, so that the positioning system and the positioning method based on the RTK and the UWB have the advantages of high positioning efficiency, high positioning precision, low manufacturing cost, wide application range and easiness in carrying.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a first scenario diagram illustrating an RTK and UWB based positioning system and method according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of an RTK and UWB based positioning system and method according to an embodiment of the present invention;
FIG. 3 is a second scenario diagram of an RTK and UWB based positioning system and method according to an embodiment of the present invention;
FIG. 4 is a first flowchart of an RTK and UWB based positioning system and method according to an embodiment of the present invention;
fig. 5 is a second flowchart of a positioning system and method based on RTK and UWB according to an embodiment of the present invention.
In the figure:
1. a positioning module; 2. UWB locates the tag.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
According to an embodiment of the present invention, an RTK and UWB based positioning system and method are provided.
As shown in fig. 1-3, the RTK and UWB-based positioning system according to the embodiment of the present invention comprises a positioning module 1 and a UWB positioning tag 2, wherein the positioning module 1 comprises an RTK unit and a UWB unit, and wherein the positioning module 1 is configured to acquire coordinate information of the UWB positioning tag 2.
The positioning module further comprises a UWB base station used for presetting coordinate information and collecting the coordinate information of the positioning module 1.
Wherein, the UWB base station is at least three.
The system further comprises a processing module and a communication module, wherein the processing module transmits the acquired coordinate information to the server through the communication module.
Specifically, as shown in fig. 1, a coverage area is formed by pre-setting up a UWB base station indoors, and the UWB base station acquires coordinate information of an indoor positioning module 1 by presetting UWB base station coordinate information;
in addition, as shown in fig. 3, when the positioning module is used outdoors, the RTK unit in the positioning module 1 acquires coordinate information of the positioning module 1 based on GNSS positioning; form the coverage area through setting up multiunit orientation module 1 to acquire the interior UWB location label 2 coordinate information of coverage area, it realizes that the location is efficient, and positioning accuracy is high, and not only the cost is with low costs, and accommodation is wide moreover, easily carries.
In addition, as shown in fig. 2, the processing module and the communication module are connected through the positioning module 1, and the processing module transmits the acquired coordinate information to the server through the communication module, so that the practicability of the processing module is improved.
According to another embodiment of the present invention, as shown in fig. 4-5, the RTK and UWB based positioning method comprises the steps of:
pre-building a UWB base station and setting coordinate information;
and acquiring the coordinate information of the positioning module 1 in the coverage area of the UWB base station.
Wherein, still include the following step:
the positioning module 1 obtains coordinate information based on GNSS positioning;
and acquiring the coordinate information of the UWB positioning tag 2 in the coverage area of the positioning module 1.
In summary, according to the above technical solution of the present invention, the RTK unit and the UWB unit are built in the positioning module 1, the UWB base station is set up in advance indoors and coordinate information is set, coordinate information of the positioning module 1 in a coverage area of the UWB base station is obtained, the positioning module 1 coordinate information is obtained outdoors through GNSS positioning, and coordinate information of the UWB positioning tag 2 in the coverage area of the positioning module 1 is obtained through the positioning module 1, so that high positioning efficiency and positioning accuracy are achieved, and the positioning module is low in manufacturing cost, wide in application range, and easy to carry.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. An RTK and UWB based positioning system, characterized in that, comprises a positioning module (1) and a UWB positioning tag (2), the positioning module (1) comprises an RTK unit and a UWB unit, wherein the positioning module (1) is used for collecting the coordinate information of the UWB positioning tag (2).
2. An RTK and UWB-based positioning system according to claim 1, further comprising a UWB base station for presetting coordinate information and collecting the positioning module (1) coordinate information.
3. The RTK and UWB-based positioning system of claim 2 wherein the UWB base stations are at least three.
4. The RTK and UWB-based positioning system of claim 2 further comprising a processing module and a communication module, the processing module transmitting the acquired coordinate information to the server through the communication module.
5. An RTK and UWB based positioning method, characterized in that the method comprises the following steps:
pre-building a UWB base station and setting coordinate information;
and acquiring coordinate information of the positioning module (1) in the UWB base station coverage area.
6. The RTK and UWB-based positioning method of claim 5, further comprising the steps of:
the positioning module (1) acquires coordinate information based on GNSS positioning;
and acquiring the coordinate information of the UWB positioning tag (2) in the coverage area of the positioning module (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110121453.XA CN112946712A (en) | 2021-01-28 | 2021-01-28 | Positioning system and method based on RTK and UWB |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110121453.XA CN112946712A (en) | 2021-01-28 | 2021-01-28 | Positioning system and method based on RTK and UWB |
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| CN112946712A true CN112946712A (en) | 2021-06-11 |
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| CN202110121453.XA Pending CN112946712A (en) | 2021-01-28 | 2021-01-28 | Positioning system and method based on RTK and UWB |
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| CN108008433A (en) * | 2017-12-08 | 2018-05-08 | 深圳市中舟智能科技有限公司 | The indoor slitless connection alignment system in outdoor based on UWB and GPS technology |
| CN108490473A (en) * | 2018-02-10 | 2018-09-04 | 深圳大学 | A kind of the unmanned plane enhancing localization method and system of fusion GNSS and UWB |
| CN109714822A (en) * | 2018-12-26 | 2019-05-03 | 中国矿业大学 | A kind of positioning system and method for distressed area Emergency seismograph network establishment |
| CN109725338A (en) * | 2018-12-21 | 2019-05-07 | 南京工程学院 | Indoor and outdoor integration positioning system based on UWB and GPS |
| CN111796315A (en) * | 2020-06-30 | 2020-10-20 | 中国人民解放军军事科学院国防科技创新研究院 | Indoor and outdoor positioning method and device for unmanned aerial vehicle |
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2021
- 2021-01-28 CN CN202110121453.XA patent/CN112946712A/en active Pending
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| CN107479513A (en) * | 2017-07-05 | 2017-12-15 | 纳恩博（北京）科技有限公司 | A kind of localization method and system, electronic equipment |
| CN108008433A (en) * | 2017-12-08 | 2018-05-08 | 深圳市中舟智能科技有限公司 | The indoor slitless connection alignment system in outdoor based on UWB and GPS technology |
| CN108490473A (en) * | 2018-02-10 | 2018-09-04 | 深圳大学 | A kind of the unmanned plane enhancing localization method and system of fusion GNSS and UWB |
| CN109725338A (en) * | 2018-12-21 | 2019-05-07 | 南京工程学院 | Indoor and outdoor integration positioning system based on UWB and GPS |
| CN109714822A (en) * | 2018-12-26 | 2019-05-03 | 中国矿业大学 | A kind of positioning system and method for distressed area Emergency seismograph network establishment |
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