The invention discloses an unmanned tracking driving method and terminal based on UWB array positioning navigation. The method comprises the steps of establishing a positioning coordinate system of a preset area according to a preset UWB array, acquiring real-time positioning information of a vehicle in the positioning coordinate system in real time, wherein the UWB array is a rectangular array erected by a plurality of UWB base stations; obtaining path track information collected in advance in the positioning coordinate system, wherein the path track information comprises a plurality of ordered target positioning points; and controlling the vehicle to complete unmanned tracking driving according to the real-time positioning information and the target positioning point. According to the invention, the use of GPS and Beidou is completely separated, unmanned tracking driving can be carried out without GPS or Beidou positioning, the price of the UWB module is more economical than that of a GPS or Beidou positioning module, and the cost of the unmanned vehicle can be reduced.
本发明公开了一种基于UWB阵列定位导航的无人循迹驾驶方法与终端;本发明根据预设的UWB阵列建立预设区域的定位坐标系,并实时获取车辆在所述定位坐标系中的实时定位信息,所述UWB阵列为由多个UWB基站架设的矩形阵列;获取在所述定位坐标系中预先采集的路径轨迹信息,所述路径轨迹信息包括多个有序的目标定位点;根据所述实时定位信息和所述目标定位点来控制车辆完成无人循迹驾驶;本发明完全脱离了GPS和北斗的使用,能够在在没有GPS或北斗定位的情况下进行无人循迹驾驶,且UWB模块较之GPS或北斗的定位模块的价格更加经济实惠,能够降低无人车辆的成本。
Unmanned tracking driving method and terminal based on UWB array positioning navigation
一种基于UWB阵列定位导航的无人循迹驾驶方法与终端
2021-08-17
Patent
Electronic Resource
Chinese
IPC: | H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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