CN115979244A

CN115979244A - Positioning method, device, system and component

Info

Publication number: CN115979244A
Application number: CN202211608927.4A
Authority: CN
Inventors: 李建朋; 岳川元; 蒋亚西; 金梦磊; 李成杰
Original assignee: Zhejiang Anji Zhidian Holding Co Ltd
Current assignee: Zhejiang Anji Zhidian Holding Co Ltd
Priority date: 2022-12-14
Filing date: 2022-12-14
Publication date: 2023-04-18

Abstract

The embodiment of the invention relates to a positioning method, a device, a system and a component, wherein the method comprises the following steps: when a vehicle enters a field end for energy supply, a first signal, a second signal and a third signal are obtained when a label on the vehicle end is communicated with at least three base stations of the field end in a refueling or charging mode; determining a first position of the vehicle in a field end coordinate system according to the first signal, the second signal and the third signal and the position of the base station in the field end coordinate system; and/or when the signal intensity of the GPS signal on the vehicle meets the requirement, acquiring the GPS signal of the earth coordinate system; converting the GPS signal to a second position in a field-end coordinate system; and determining the position of the vehicle end according to the first position and the second position.

Description

Positioning method, device, system and component

Technical Field

The present invention relates to the field of signal processing technologies, and in particular, to a positioning method, apparatus, system, and component.

Background

In the prior art, when energy is lower than a threshold value in the driving process of a vehicle and energy supplement is needed, generally, the vehicle carries out early warning with lower energy, then a field end for energy supplement is determined manually according to vehicle-mounted navigation equipment, and energy supplement is carried out after the vehicle drives to the field end for energy supplement.

After the vehicle travels at the entering terminal, the terminal plans a path for the vehicle terminal to control the vehicle terminal to travel, and at this time, the problem of positioning the vehicle terminal is involved, so how to position the entering vehicle is realized, and the positioning accuracy is guaranteed to be high, which is a problem to be solved urgently.

Disclosure of Invention

The invention aims to provide a positioning method, a positioning device, a positioning system and a positioning component aiming at the defects of the prior art so as to solve the problem of inaccurate positioning of a vehicle end to the vehicle end in the prior art.

In order to achieve the above object, a first aspect of the embodiments of the present invention provides a positioning method, where the method includes:

when a vehicle end enters a field end, acquiring a first signal, a second signal and a third signal when a label on the vehicle end is communicated with at least three base stations of the field end;

determining a first position of the vehicle in a field end coordinate system according to the first signal, the second signal and the third signal and the position of the base station in the field end coordinate system; and/or the presence of a gas in the atmosphere,

when the signal intensity of a GPS signal on a vehicle meets the requirement, acquiring the GPS signal of a terrestrial coordinate system;

converting the GPS signal to a second position in a field-end coordinate system;

and determining the position of the vehicle end according to the first position and the second position.

In one possible implementation, the method further includes, before the step of:

and arranging base stations in the field end, and acquiring the position of each base station in the field end coordinate system.

In one possible implementation, before the signal strength of the GPS signal on the vehicle meets the requirement, the method further includes:

judging whether the signal intensity of the GPS signal on the vehicle meets the requirement;

when the zone bit of the GPS signal is a preset zone bit, the signal intensity meets the requirement;

and when the flag bit of the GPS signal is not a preset flag bit, the signal strength does not meet the requirement.

In one possible implementation, the method further includes:

when the signal strength of the GPS signal on the vehicle is not satisfactory, the first position is determined to be the position of the vehicle end.

In a possible implementation manner, the determining, according to the first signal, the second signal, and the third signal, and the position of the base station in the field-end coordinate system, the first position of the vehicle in the field-end coordinate system specifically includes:

determining a first distance between a first base station of the base stations and the tag according to the first signal;

determining a second distance between a second base station of the base stations and the tag according to the second signal;

determining a third distance between a third base station of the base stations and the tag according to the third signal;

and determining the first position of the tag in the field end coordinate system by a triangulation method according to the first distance, the second distance and the third distance, and the position of the first base station, the position of the second base station and the position of the third base station.

In one possible implementation, the method further includes:

when the vehicle end enters the field end, the base station of the field end establishes UWB communication with the tag of the vehicle end.

In a possible implementation manner, a plurality of types of sensors are provided at the field end, and when the sensor is an image sensor, the method further includes:

receiving the image information of the vehicle end sent by the image sensor;

determining a third position of the vehicle end according to the image information and a mapping relation between a preset image coordinate system and a field end coordinate system;

and determining the position of the vehicle end according to the first position, and/or the second position, and/or the third position.

In a possible implementation manner, a plurality of types of sensors are arranged at the field end, and when the sensor is a laser radar, the method further includes:

receiving laser point cloud information sent by the laser radar;

determining the position of the vehicle end in a laser point cloud coordinate system according to the laser point cloud information;

determining a fourth position of the vehicle end according to the position of the vehicle end in a laser point cloud coordinate system and a preset mapping relation between the laser point cloud coordinate system and a field end coordinate system;

and determining the position of the vehicle end according to the first position, and/or the second position, and/or the third fourth position.

In a possible implementation manner, a plurality of types of sensors are arranged at the field end, and when the sensors are millimeter wave radars, the method further includes:

receiving ranging information sent by the millimeter wave radar;

determining the position of the vehicle end in a millimeter wave radar coordinate system according to the ranging information;

determining a fifth position of the vehicle end according to the position of the vehicle end in a millimeter wave radar coordinate system and a preset mapping relation between the millimeter wave radar coordinate system and a field end coordinate system;

determining a position of the vehicle end based on the first position, and/or the second position, and/or the third position, and/or the fourth position, and/or the fifth position.

A second aspect of the present invention provides a positioning apparatus for implementing the positioning method according to the first aspect of the present invention, where the positioning apparatus includes:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first signal, a second signal and a third signal when a label on a vehicle end is communicated with at least three base stations of a field end when the vehicle end enters the field end;

a first determination module, configured to determine a first position of the vehicle in a field-end coordinate system according to the first signal, the second signal, and the third signal, and a position of the base station in the field-end coordinate system; and/or the presence of a gas in the gas,

the second acquisition module is used for acquiring the GPS signal of the terrestrial coordinate system when the signal intensity of the GPS signal on the vehicle meets the requirement;

a conversion module for converting the GPS signal to a second position in a field-end coordinate system;

and the second determining module is used for determining the position of the vehicle end according to the first position and the second position.

In one possible implementation, the apparatus further includes: a third obtaining module;

the third acquisition module is used for setting base stations in the field end and acquiring the position of each base station in the field end coordinate system.

In one possible implementation, before the signal strength of the GPS signal on the vehicle meets the requirement, the apparatus further includes: a judgment module;

the judging module is used for judging whether the signal intensity of the GPS signal on the vehicle meets the requirement or not;

when the flag bit of the GPS signal is a preset flag bit, the signal strength meets the requirement;

In one possible implementation, the apparatus further includes: a third determining module;

the third determination module is used for determining the first position as the position of the vehicle end when the signal strength of the GPS signal on the vehicle is not in accordance with the requirement.

In a possible implementation manner, the determining, by the first determining module, the first position of the vehicle in the field-end coordinate system according to the first signal, the second signal, the third signal, and the position of the base station in the field-end coordinate system specifically includes:

determining, from the first signal, a first distance of a first one of the base stations from the tag;

In one possible implementation, the apparatus further includes: a wireless communication establishing module;

the wireless communication establishing module is used for establishing UWB communication between a base station of the field end and a label of the vehicle end when the vehicle end enters the field end.

In a possible implementation manner, a plurality of types of sensors are provided at the field end, and when the sensors are image sensors, the apparatus further includes: a fourth determination module;

the fourth determining module is used for receiving the image information of the vehicle end sent by the image sensor;

In a possible implementation manner, a plurality of types of sensors are provided at the field end, and when the sensor is a lidar, the apparatus further includes: a fifth determining module;

the fifth determining module is used for receiving laser point cloud information sent by the laser radar;

In a possible implementation manner, a plurality of types of sensors are arranged at the field end, and when the sensors are millimeter wave radars, the apparatus further includes: a sixth determining module;

the sixth determining module is configured to receive ranging information sent by the millimeter wave radar;

A third aspect of embodiments of the present invention provides a positioning system, which includes the positioning apparatus of the first aspect.

A fourth aspect of an embodiment of the present invention provides a positioning member, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the positioning method according to any one of the first aspect of the embodiments of the present invention.

By applying the positioning method provided by the embodiment of the invention, the field terminal can determine the position of the vehicle terminal after communicating with the field terminal base station according to the label of the vehicle terminal, and can acquire the GPS signal of the vehicle terminal when the strength of the GPS signal of the vehicle terminal meets the requirement, and then fuse the positions of the vehicle terminal obtained according to the two methods, thereby obtaining the position of the vehicle terminal and improving the positioning precision of the vehicle terminal. Furthermore, the existing sensor at the field end can be used for positioning, for example, an image sensor is used for positioning, and the accuracy of vehicle end positioning is further improved. Still further, this application can also combine laser radar to fix a position, this further improvement the precision of car end location, and further again, this application can also carry out the location of car end according to millimeter wave radar, this further improvement positioning accuracy again.

Drawings

Fig. 1 is a schematic diagram of a positioning method according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating an implementation manner of step 120 in fig. 1 according to a first embodiment of the present invention;

fig. 3 is a second schematic diagram of a positioning method according to a first embodiment of the present invention;

fig. 4 is a third schematic view of a positioning method according to a first embodiment of the present invention;

fig. 5 is a fourth schematic view illustrating a positioning method according to an embodiment of the present invention;

fig. 6 is a fifth schematic view illustrating a positioning method according to a first embodiment of the present invention;

fig. 7 is a sixth schematic view illustrating a positioning method according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a positioning apparatus according to a second embodiment of the present invention;

fig. 9 is a second schematic structural diagram of a positioning apparatus according to a second embodiment of the present invention;

fig. 10 is a third schematic structural view of a positioning apparatus according to a second embodiment of the present invention;

fig. 11 is a fourth schematic structural view of a positioning device according to the second embodiment of the present invention;

FIG. 12 is a fifth schematic view of a positioning device according to a second embodiment of the present invention;

fig. 13 is a sixth schematic structural view of a positioning device according to the second embodiment of the present invention;

fig. 14 is a seventh schematic structural diagram of a positioning apparatus according to the second embodiment of the present invention;

fig. 15 is a block diagram of a positioning system according to a third embodiment of the present invention;

fig. 16 is a block diagram of a positioning component according to a fourth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a positioning method, wherein an execution main body of the positioning method is a field end server, a field end of the positioning method is an end for providing energy supplementing service for a vehicle end, and an oiling device or a charging device can be arranged in the field end so as to supplement energy for a vehicle. As shown in fig. 1, which is a schematic diagram of a positioning method according to an embodiment of the present invention, the method mainly includes the following steps:

step 110, when a vehicle end enters a field end, acquiring a first signal, a second signal and a third signal when a label on the vehicle end is communicated with at least three base stations of the field end;

specifically, the field side may be provided with a plurality of base stations, and the base stations may be understood as devices that can communicate with the tag of the vehicle side, and when the vehicle side enters the field side, the base stations of the field side establish wireless communication with the tag of the vehicle side, and the communication mode may be Ultra Wide Band (UWB) communication. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.

The car end label in this application can be preset on the vehicle, and it can communicate with a plurality of 5 base stations in the field end, for the convenience of fixing a position through the triangulation location principle, and the signal of three basic station can be selected in this application to the position of car end is obtained to the position through three basic station.

And step 120, determining a first position of the vehicle in the field-end coordinate system according to the first signal, the second signal and the third signal and the position of the base station in the field-end coordinate system.

Specifically, assuming that the three base stations selected in the previous step 110 to communicate with the tag are 0 first base station, 0 second base station, and 0 third base station, how to perform vehicle end positioning through the base stations in step 120 is described, as shown in fig. 2, step 120 includes the following steps 1201 to 1204:

step 1201, determining a first distance between a first base station of the base stations and the tag according to the first signal; specifically, each base station is provided with a UWB chip, and the UWB chip provides a time stamp for recording data frames during transmission and reception, which is a basic condition for enabling distance measurement between two points, that is, the distance between two nodes is measured by calculating the air flight time of data × 5 light speed = data flight distance.

With the timestamp of data frame transceiving, it is necessary to provide a sufficiently high clock accuracy, and the UWB chip has the microcode of LDE, and the clock reaches the frequency of 64G through PLL, and of course, this clock is only provided for LDE, so that the UWB chip has the timestamp with ultra high accuracy, and the clock with 64G can make the resolution of the UWB clock 15.65ps.

The process of 0 ranging through interaction between the base station and the tag is as follows:

firstly, a tag initiates a ranging request data packet at the moment T1;

secondly, the UWB base station receives the ranging request data packet at the time T2;

thirdly, the UWB base station sends a reply data packet to the label at the time of T3;

then, the tag receives a reply data packet of the UWB base station at the time T4;

5, at the time of T5, the tag sends a final data packet to the UWB base station;

and finally, the UWB base station receives the final reply data packet at the time T6 to complete the ranging process.

So that the distance between the first base station and the tag can be obtained through the ranging process.

Step 1202, determining a second distance between a second base station of the base stations and the tag according to the second signal;

accordingly, the second distance between the second base station and the tag may also be obtained by the above method, and details are not described here.

Step 1203, determining a third distance between a third base station in the base stations and the tag according to the third signal;

correspondingly, the second distance between the second base station and the tag may also be obtained by the above method, which is not described herein again.

Step 1204, determining a first position of the tag in the field end coordinate system by a triangulation method according to the first distance, the second distance and the third distance, and the position of the first base station, the position of the second base station and the position of the third base station.

Specifically, on the basis, the function of ranging between two points of the base station and the tag can be realized, if the tag needs to be positioned, one tag needs to communicate with a plurality of base stations respectively to obtain the distances between the tag and each base station respectively, and the data can be obtained by surveying and mapping the positions and the distances between the base stations in the early stage of deployment at the field end. Therefore, the position of the label in the positioning system of the field end is obtained, at the moment, the accurate position information can be calculated by using a spherical intersection method and inputting the distance between the terminal and the base station, and the accurate position of the label can be calculated by knowing the coordinates of three points of a triangle and the distance between the three points and the label by using a triangulation method. Subsequently, the position of the tag may be directly used as the position of the vehicle, or the position of the tag may be processed to obtain the position of the vehicle end, for example, coordinates of the tag and the center point of the vehicle end are converted, so as to obtain the position of the center point of the vehicle end according to the position of the tag, and use the position of the center point as the position of the vehicle end. The center point of the vehicle end may be a center point of a rear axle of the vehicle end, or a center of gravity of the vehicle, and the specific position of the center point is not limited in the present application.

Step 130, when the signal intensity of the GPS signal on the vehicle meets the requirement, acquiring the GPS signal of the terrestrial coordinate system;

the precondition for executing step 130 is whether the signal strength of the GPS signal on the vehicle meets the requirement, and whether the signal strength of the GPS signal meets the requirement may be implemented by the following steps, as shown in fig. 3, before the signal strength of the GPS signal on the vehicle meets the requirement, the method further includes:

step 310, judging whether the signal intensity of the GPS signal on the vehicle meets the requirement;

in step 320, the signal strength is determined to be satisfactory, and in step 330, the signal strength is determined to be unsatisfactory. When the signal strength is not satisfactory, step 410 in the following fig. 4 is performed.

Step 320, when the flag bit of the GPS signal is a preset flag bit, the signal strength meets the requirement;

in the GPS signal, a flag bit indicating the signal strength, such as a digital identifier 3,4,5, etc., indicates that the GPS signal strength meets the requirement when the flag bit of the currently received GPS signal is the preset flag bit.

Step 330, when the flag bit of the GPS signal is not the preset flag bit, the signal strength does not meet the requirement.

When the current GPS signal intensity does not accord with the preset zone bit, the GPS signal intensity is proved to be not accord with the requirement. When the GPS signal strength is not satisfactory, step 410 is performed as follows.

In the present application, when the GPS signal is not satisfactory, as shown in fig. 4, the present application further includes step 410:

and step 410, when the signal intensity of the GPS signal on the vehicle is not satisfactory, the first position is the position of the vehicle end.

Specifically, when the strength of the GPS signal does not meet the requirement, the first position is directly used as the position of the vehicle end according to the post-positioning positions of the base station of the field end and the tag of the vehicle end.

Step 140, converting the GPS signal to a second position in the field terminal coordinate system;

specifically, the coordinate system of the GPS signal is a terrestrial coordinate system, and the terrestrial coordinate system and the field end coordinate system have a predetermined mapping relationship, so as to convert the GPS signal into a second position in the field end coordinate system.

And 150, determining the position of the vehicle end according to the first position and the second position.

Specifically, the first position and the second position are fused to determine the position of the vehicle end, where the fusion may be a weighted average, or may be directly an average value of the two positions, which is not limited in this application.

Therefore, according to the positioning method, when the GPS signal meets the requirement, positioning is carried out through the GPS signal, and positioning of the base station and the label is combined, so that the positioning accuracy is improved, and the reliability of the positioning accuracy is ensured.

Furthermore, on the basis of the GPS positioning and the UWB base station positioning of the present application, the present application may further perform positioning by using sensors at a field end, and the field end is provided with various sensors, for example, an image sensor, a laser radar sensor, a millimeter wave sensor, and the like, where the sensors serve to control the driving of a vehicle end for the field end, that is, a controller at the field end may control the vehicle end in the field end according to sensor information obtained by the sensors, so as to achieve the purpose of scheduling the vehicle end to a target post position, thereby controlling the form of the vehicle end by the field end, so as to achieve unified control of the vehicle end, and the sensors may also be used to position the vehicle end, where the positioning may be assisted by a single sensor or integrated by multiple sensors, and how to perform positioning by using the sensors is specifically described below.

It can be understood that the field end controller and the various sensors arranged at the field end have a connection relationship therebetween, so that the field end controller can acquire data of the various sensors in real time, the field end controller can plan a path of the vehicle end by using the sensors, and plan a path along which the vehicle end travels, so that the traveling direction and the traveling angle of the vehicle, such as forward, backward, left-turn, and right-turn, are performed according to the control of the field end, so that the vehicle end can sequentially travel to the parking spaces reserved or locked at the field end. The reservation or locking refers to that the parking space is already allocated to the vehicle end by the field end.

In one example, in conjunction with fig. 1-4, when the sensor is an image sensor, as shown in fig. 5, it includes steps 510-530:

step 510, receiving image information of a vehicle end sent by an image sensor;

specifically, the image sensor may be a binocular camera, a depth camera, or a common monocular camera, and may acquire a plurality of video frames or images and extract image information from the video frames.

Step 520, determining a third position of the vehicle end according to the mapping relation between the image information and a preset image coordinate system and a field end coordinate system;

specifically, the conversion relationship between the image coordinate system and the field terminal coordinate system is preset and determined and stored in a field terminal memory, the controller can directly call the mapping relationship, and when the camera is a common monocular camera, the controller can obtain the time stamps of two frames of images according to the position of the vehicle in any two frames of images in the multi-frame image information and determine the third position of the vehicle terminal according to the mapping relationship between the image coordinate system and the field terminal coordinate system.

When the vehicle end is a binocular camera, the position of the vehicle end in the image coordinate system can be determined according to the principle of binocular ranging, then the position of the vehicle end in the image coordinate system is converted into the position of the vehicle end in the vehicle end coordinate system, and in order to distinguish the position from the previous first position and second position, the position of the vehicle end at the moment can be called as a third position.

When the vehicle is a depth camera, the position of the vehicle end in the image coordinate system can be determined according to the depth information of the depth camera, and then the third position of the vehicle end is determined after the coordinate system conversion is carried out.

And step 530, determining the position of the vehicle end according to the first position, and/or the second position, and/or the third position.

Specifically, any two of the first position, the second position, the third position, and the third position may be fused, for example, weighted averaging is performed, a weight coefficient is preset for positions obtained in different manners, and then the positions are multiplied by the weight coefficient to perform weighted averaging to obtain the vehicle end position, or an average value may be directly taken to obtain the vehicle end position. Furthermore, when any one or two positions are limited, the remaining one position can be used as the position of the vehicle end, so that the position of the vehicle end can be positioned in a diversified manner, the vehicle end can be positioned under various conditions, the way of positioning the vehicle end is expanded, and a foundation is provided for controlling the vehicle end to drive to a charging or refueling parking space by the end field of the subsequent field.

In another example, in conjunction with fig. 1-5, when the sensor is a lidar, as shown in fig. 6, the application may further include steps 610-630:

step 610, receiving laser point cloud information sent by a laser radar;

specifically, the laser radar can sense the surrounding environment, so that multi-frame laser point cloud information is obtained, the laser point cloud information comprises a plurality of laser point clouds, and the laser point clouds are a collection of scanning points. The laser radar arranged at the field end scans the ground to obtain the three-dimensional coordinates of the ground reflection points, and each ground reflection point is distributed in a three-dimensional space in a point form according to the three-dimensional coordinates and is called as a scanning point.

Step 620, determining the position of the vehicle end in a laser point cloud coordinate system according to the laser point cloud information;

specifically, the position of the vehicle end can be obtained from the scanning points, and the position is the position of the vehicle end under the laser point cloud coordinate system.

Step 630, determining a fourth position of the vehicle end according to the position of the vehicle end in the laser point cloud coordinate system and a preset mapping relation between the laser point cloud coordinate system and the field end coordinate system;

specifically, several mapping relationships between the point cloud coordinate system and the field end coordinate system may be preset in the field end controller, the conversion relationship between the coordinate system and the field end coordinate system is preset and determined and stored in the field end memory, and the position of the laser radar at the field end is known, so that after the position of the vehicle end under the laser point cloud coordinate system is obtained, the position can be converted into the position of the vehicle end under the field end coordinate system, that is, the fourth position.

And step 640, determining the position of the vehicle end according to the first position, and/or the second position, and/or the third fourth position.

Specifically, at least two of the first position, the second position, the third position and the fourth position can be fused, or when some positioning methods fail, one of the positioning methods can be directly used for positioning the vehicle end, so that the positioning accuracy is further improved through laser radar positioning.

In still another example, in conjunction with fig. 1-6, when the sensor is a millimeter wave radar, as shown in fig. 7, the present application may further include steps 710-740.

Step 710, receiving ranging information sent by a millimeter wave radar;

specifically, millimeter wave radar in this application can range for, and this range finding can be the position of measuring a plurality of points apart from the car end to with the position of a plurality of points apart from the car end, calculate the distance that obtains the central point apart from the car end.

Step 720, determining the position of the vehicle end in a millimeter wave radar coordinate system according to the ranging information;

specifically, in the application, the position of the millimeter wave radar at the field end is known, and the coordinate system of the millimeter wave radar is a three-dimensional coordinate system.

Step 730, determining a fifth position of the vehicle end according to the position of the vehicle end in the millimeter wave radar coordinate system and a preset mapping relation between the millimeter wave radar coordinate system and the field end coordinate system;

specifically, the conversion relationship between the millimeter wave radar coordinate system and the field end coordinate system is preset and determined and stored in the field end memory, and the position of the vehicle end in the millimeter wave radar coordinate system can be converted into the position of the vehicle end in the field end coordinate system, that is, the fifth position, by directly calling the mapping relationship.

And 740, determining the position of the vehicle end according to the first position, and/or the second position, and/or the third position, and/or the fourth position, and/or the fifth position.

Specifically, at least two of the first position, the second position, the third position, the fourth position and the fifth position may be fused, or when some positioning methods fail, one of the positioning methods may be directly used to position the vehicle end, so that the positioning accuracy is further improved through the positioning by the millimeter wave radar.

It will be appreciated that the vehicle of the present application may be an unmanned vehicle, providing a new idea for location of the presence of the unmanned vehicle.

Example two

Fig. 8 is a block diagram of a positioning apparatus according to a second embodiment of the present invention, where the apparatus is a positioning apparatus capable of implementing a positioning method according to the first embodiment of the present invention. As shown in fig. 8, the apparatus includes: a first obtaining module 810, a first determining module 820, a second obtaining module 830, a converting module 840, and a second determining module 850.

The first obtaining module 810 is configured to obtain a first signal, a second signal, and a third signal when a tag on a vehicle end communicates with at least three base stations on a field end when the vehicle end enters the field end;

the first determining module 820 is configured to determine a first position of the vehicle in the field-end coordinate system according to the first signal, the second signal and the third signal, and the position of the base station 5 in the field-end coordinate system; and/or the presence of a gas in the atmosphere,

the second obtaining module 830 is configured to obtain a GPS signal of the terrestrial coordinate system when the signal strength of the GPS signal on the vehicle meets the requirement;

the conversion module 840 is configured to convert the GPS signal into a second position in the field-end coordinate system;

the second determining module 850 is configured to determine the position of the vehicle end according to the first position and the second position.

Further, as shown in fig. 9, the positioning apparatus further includes: a third obtaining module 910;

the third obtaining module 910 is configured to set base stations in the field end, and obtain the position of each base station in the field end coordinate system.

Further, as shown in fig. 10, before the signal strength of the GPS signal on the vehicle meets the requirement, the positioning apparatus further includes: a judging module 1010;

the 5 judging module 1010 is used for judging whether the signal intensity of the GPS signal on the vehicle meets the requirement;

and when the zone bit of the GPS signal is not a preset zone bit, the signal strength does not meet the requirement.

Further, as shown in fig. 11, the positioning device further includes: a third determination module 1110;

the third determining module 1110 is configured to determine that the first position 0 is the position of the vehicle end when the signal strength of the GPS signal on the vehicle is not satisfactory.

Further, the determining the first position of the vehicle in the field-end coordinate system by the first determining module 820 according to the first signal, the second signal, the third signal, and the position of the base station in the field-end coordinate system specifically includes:

determining a first distance between a first base station of the base stations and the tag according to the first signal; 5, determining a second distance between a second base station in the base stations and the tag according to the second signal;

and determining the first position of the label in the field end coordinate system by a triangulation method according to the first distance, the second distance and the third distance, and the position of the first base station, the position of the second base station and the position of the third base station.

Further, as shown in fig. 12, the positioning device further includes: a wireless communication setup module 1210;

the wireless communication establishing module 1210 is configured to establish UWB communication between a base station at the field end and a tag at the vehicle end when the vehicle end enters the field end.

Further, as shown in fig. 13, a plurality of types of sensors are provided at the field end, and when the sensor is an image sensor, the positioning apparatus further includes: a fourth determination module 1310;

the fourth determining module 1310 is configured to receive image information of the vehicle end sent by the image sensor;

determining the position of the vehicle end according to the first position, and/or the second position, and/or the third position.

Further, as shown in fig. 14, a plurality of types of sensors are provided at the field end, and when the sensor is a laser radar, the positioning device further includes: a fifth determination module 1410;

the fifth determining module 1410 is configured to receive laser point cloud information sent by the laser radar;

determining a fourth position of the vehicle end according to the position of the vehicle end in the laser point cloud coordinate system and a preset mapping relation between the laser point cloud coordinate system and the field end coordinate system;

the position of the vehicle end is determined based on the first position, and/or the second position, and/or the third fourth position.

Further, as shown in fig. 15, a plurality of types of sensors are provided at the field end, and when the sensor is a millimeter wave radar, the positioning device further includes: a sixth determining module 1510;

the sixth determining module is used for receiving the ranging information sent by the millimeter wave radar;

determining a fifth position of the vehicle end according to the position of the vehicle end in the millimeter wave radar coordinate system and a preset mapping relation between the millimeter wave radar coordinate system and the field end coordinate system;

determining the position of the vehicle end according to the first position, and/or the second position, and/or the third position, and/or the fourth position, and/or the fifth position.

The positioning device provided in the second embodiment of the present invention is used to execute the steps of the method provided in the second embodiment of the present invention, and the implementation principle and the technical effect are similar, which are not described herein again.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the obtaining module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and a processing element of the apparatus calls and executes the functions of the obtaining module. The other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the method provided by the embodiment of the present invention or each module of the apparatus provided by the embodiment of the present invention may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the modules of the apparatus provided by the embodiment of the present invention may be one or more integrated circuits configured to perform the method provided by the embodiment of the present invention, for example: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when a module of the apparatus provided by the embodiment of the present invention is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, the modules of the apparatus provided by the embodiment of the present invention may be integrated together and implemented in the form of a System-on-a-chip (SOC).

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause, in whole or in part, the processes or functions described in the methods provided by embodiments of the invention. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, bluetooth, microwave, etc.).

EXAMPLE III

Fig. 15 is a block diagram of a positioning system according to a third embodiment of the present invention, and as shown in fig. 10, the system according to the third embodiment of the present invention may specifically include: such as the positioning device shown in fig. 8-14.

Example four

Fig. 16 is a block diagram of a positioning component according to a fourth embodiment of the present invention. The component is an electronic component, an electronic device or a server for implementing the method provided by the first embodiment of the invention. As shown in fig. 16, the component 1600 may include: a processor 1610 (e.g., a CPU) and memory 1620; the memory 1620 is configured to store instructions executable by the at least one processor 1610, where the instructions are executed by the at least one processor 1610, so as to enable the at least one processor 1610 to perform a method according to an embodiment of the present invention. Preferably, the component according to the fourth embodiment of the present invention may further include: a transceiver 1630, a power supply 1640, a system bus 1650, and a communication port 1660. A transceiver 1630 is coupled to processor 1610, a system bus 1650 is used to implement the communication link between the elements, and the communication port 1660 is used to interface communications between the device and other peripherals.

The system bus mentioned in fig. 16 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM) and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.

The Processor may be a general-purpose Processor, including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

According to the positioning method, the positioning device, the positioning system and the positioning component, the cloud end can determine the field end providing the energy supplementing service for the vehicle end according to the position of the vehicle end and the position of the field end, and further determine the more accurate field end according to the pile position state of the field end. Furthermore, the cloud end can also perform field end positioning according to personal preference sent by the vehicle end so as to further improve the accuracy of the field end positioning. Furthermore, the cloud end can dynamically set a preset range according to the driving distance of the vehicle end, so that the reasonability of the finally determined target field end is ensured, and the accuracy of the determined target field end is improved.

Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A method of positioning, the method comprising:

determining a first position of the vehicle in a field end coordinate system according to the first signal, the second signal and the third signal and the position of the base station in the field end coordinate system; and/or the presence of a gas in the gas,

2. The method of claim 1, further comprising, prior to the method:

3. The method of claim 1, wherein before the signal strength of the GPS signal on the vehicle is satisfactory, the method further comprises:

4. The method of claim 1, further comprising:

5. The method of claim 1, wherein determining the first position of the vehicle in the field-end coordinate system based on the first, second, and third signals and the position of the base station in the field-end coordinate system comprises:

6. The method of claim 1, further comprising:

7. The method according to claim 1, wherein a plurality of types of sensors are provided at a field end, and when the sensor is an image sensor, the method further comprises:

receiving the image information of the vehicle end sent by the image sensor;

8. The method of claim 7, wherein a plurality of types of sensors are provided at the field end, and when the sensors are lidar, the method further comprises:

receiving laser point cloud information sent by the laser radar;

9. The method of claim 8, wherein a plurality of types of sensors are provided at a field end, and when the sensors are millimeter wave radars, the method further comprises:

receiving ranging information sent by the millimeter wave radar;

10. A positioning device, characterized in that it comprises:

11. The apparatus of claim 10, further comprising: a third obtaining module;

12. The apparatus of claim 10, wherein before the signal strength of the GPS signal on the vehicle is satisfactory, the apparatus further comprises: a judgment module;

13. The apparatus of claim 10, further comprising: a third determination module;

14. The apparatus of claim 10, wherein the first determining module determines the first position of the vehicle in the field-end coordinate system based on the first, second, and third signals and the position of the base station in the field-end coordinate system comprises:

15. The apparatus of claim 10, further comprising: a wireless communication establishing module;

16. The apparatus according to claim 10, wherein a plurality of types of sensors are provided at a field end, and when the sensors are image sensors, the apparatus further comprises: a fourth determination module;

17. The apparatus according to claim 16, wherein a plurality of types of sensors are provided at the field end, and when the sensor is a lidar, the apparatus further comprises: a fifth determining module;

18. The apparatus according to claim 17, wherein a plurality of types of sensors are provided at a field end, and when the sensor is a millimeter wave radar, the apparatus further comprises: a sixth determining module;

19. A positioning system, characterized in that it comprises a positioning device according to claims 10-18.

20. A positioning member, characterized in that said member comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the positioning method of any one of claims 1-9.