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发明公开
CN107592623A 基于UWB和DGPS技术的悬挂轨道无人驾驶车辆精准定位与测距的方法 无效 - 驳回

基于UWB和DGPS技术的悬挂轨道无人驾驶车辆精准定位与测距的方法
摘要：
本发明提供了一种基于UWB和DGPS技术的悬挂轨道无人驾驶车辆精准定位与测距的方法，包括如下步骤：在无人车上安装DGPS系统与UWB定位测距系统，DGPS系统与UWB定位测距系统都与车载控制系统相连，车载控制系统通过DGPS系统与UWB定位测距系统进行车辆的定位测距与无人驾驶；车载GPS与基站构成DGPS；同一轨道上的前后车辆的UWB传感器构成UWB定位测距系统，发送彼此的电磁脉冲信号，通过TOF算法获得前后车辆之间的距离，作为DPGS系统的补充，在GPS没有卫星信号的情况下，通过车辆之间UWB的无线测距保障车辆无人驾驶的安全性。本发明首次将UWB与DGPS定位技术应用于悬挂式无人车的控制上，用UWB技术弥补了GPS在某些情况下无法完成定位的缺陷，使得定位测距精度达到厘米级。
摘要（英）：

The invention provides a precise positioning and ranging method for a suspended track unmanned vehicle based on UWB and DGPS technologies. The precise positioning and ranging method comprises the steps that: a DGPS and a UWB positioning and ranging system are installed on the unmanned vehicle; both the DGPS and the UWB positioning and ranging system are connected with a vehicular control system; the vehicular control system performs positioning, ranging and unmanned driving of the vehicle through the DGPS and the UWB positioning and ranging system; a vehicular GPS and a base station form the DGPS; UWB sensors of front and rear vehicles on the same track form the UWB positioning and ranging system; mutual electromagnetic pulse signals are sent; the distance between the front and rear vehicles is obtained through a TOF algorithm; and, as the supplement of the DGPS, when the GPS does not have a satellite signal, the unmanned driving security of the vehicle is ensured through the wirelessranging of the UWB between the vehicles. According to the precise positioning and ranging method provided by the invention, the UWB and DGPS positioning technologies are applied to control of the suspended unmanned vehicle at the first time; the disadvantage that the GPS cannot complete positioning in some cases can be made up by the UWB technology; and thus, the positioning and ranging precisionis up to the centimetre level.

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