1. A method for positioning a mobile vehicle, the mobile vehicle comprising a ground penetrating radar for obtaining real-time road data, the method comprising:

acquiring real-time road data obtained by the ground penetrating radar, and extracting real-time target characteristics in the real-time road data;

and obtaining the real-time position of the ground penetrating radar according to the similarity between the real-time target characteristics and preset target characteristics.

2. The method according to claim 1, wherein the mobile carrier further comprises a distance measuring device for measuring a moving distance of the mobile carrier;

the step of obtaining the real-time position of the ground penetrating radar according to the similarity between the real-time target feature and the preset target feature further comprises the following steps:

acquiring the moving distance measured by the distance measuring device;

and outputting the real-time position according to the relation between the moving distance and a preset threshold value.

3. The method for positioning a mobile vehicle according to claim 1, wherein the step of acquiring real-time road data obtained by the ground penetrating radar and extracting real-time target features in the real-time road data comprises:

acquiring real-time road data obtained by the ground penetrating radar, forming the real-time road data into a matrix, and cutting the matrix into a slice set;

and extracting the target characteristics of each slice in the slice set to obtain the real-time target characteristics in the real-time road data.

4. The method of claim 3, wherein the step of cutting the real-time road data into the set of slices further comprises:

and removing clutter and gaining data of the real-time road data.

5. A positioning control device for a mobile vehicle, comprising a memory, a processor, and a positioning control program for the mobile vehicle stored in the memory and executable on the processor, wherein the positioning control program for the mobile vehicle is configured to implement the steps of the positioning method for the mobile vehicle according to any one of claims 1 to 4.

6. A storage medium, wherein a positioning control program of the mobile vehicle is stored on the storage medium, and when executed by a processor, the positioning control program of the mobile vehicle implements the steps of the positioning method of the mobile vehicle according to any one of claims 1 to 4.

7. A positioning system for a mobile vehicle, comprising:

the ground penetrating radar is used for acquiring real-time road data;

a positioning control device of a mobile vehicle, electrically connected to the ground penetrating radar, the positioning control device of the mobile vehicle being as claimed in claim 5.

8. The positioning system for a mobile vehicle according to claim 7, further comprising a distance measuring device for measuring a moving distance of the mobile vehicle;

and the positioning control device of the mobile carrier is electrically connected with the distance measuring device.

9. The positioning system for a mobile vehicle according to claim 8, wherein the distance measuring device is a distance measuring wheel.

10. A mobile vehicle comprising a positioning system of a mobile vehicle according to any one of claims 7 to 9.

Background

With the development of Global Navigation Satellite System (GNSS) applications represented by the Global Positioning System (GPS), the GNSS system is becoming an important infrastructure for national information construction, providing positioning, navigation and time service (PNT) information for a variety of different applications. As GNSS applications become deeper, the disadvantages of GNSS systems themselves become more apparent, mainly including: electromagnetic signal interference influences that positioning is difficult to achieve under the condition of geographic environment shielding (indoor and underground).

How to enhance the PNT service capability of the GNSS system, and even provide the PNT service capability completely independent of the implementation of the GNSS system becomes the key point of the development of the PNT application technology in the future. The ground penetrating radar realizes high-resolution detection of underground targets by using electromagnetic waves, and the underground targets are basically not influenced by the external environment, so the target characteristics are stable. The exploration and research utilize the underground target information obtained by the ground penetrating radar to realize the positioning under the abnormal state, and can effectively make up the defects of the existing means.

The method for positioning based on the data of the ground penetrating radar mainly comprises the following steps: 1) and acquiring echo data of the road underground target by using a ground penetrating radar system to form a prior underground target echo data map database, which is called a prior map database for short. 2) When the vehicle needs to be positioned, the ground penetrating radar system collects the echo data of the ground penetrating radar at the current position, called as an unregistered map, and carries out similarity calculation with the echo data of the ground penetrating radar in the prior map database. The time complexity of calculating the similarity using the raw echo data of the unregistered map and the raw echo data of the prior map database is high, and the real-time performance of positioning is difficult to achieve.

Disclosure of Invention

The invention mainly aims to provide a mobile carrier, a positioning system, a positioning method, a control device and a storage medium thereof, and aims to solve the problem of high complexity of echo data calculation similarity.

In order to achieve the above object, the present invention provides a method for positioning a mobile vehicle, the mobile vehicle includes a ground penetrating radar for acquiring real-time road data, the method for positioning the mobile vehicle includes the following steps:

acquiring real-time road data acquired by a ground penetrating radar, and extracting real-time target characteristics in the real-time road data;

and obtaining the real-time position of the ground penetrating radar according to the similarity between the real-time target characteristics and the preset target characteristics.

Optionally, the mobile carrier further comprises a distance measuring device for measuring a moving distance of the mobile carrier;

the step of obtaining the real-time position of the ground penetrating radar according to the similarity between the real-time target characteristic and the preset target characteristic further comprises the following steps:

acquiring a moving distance measured by a distance measuring device;

and outputting the real-time position according to the relation between the moving distance and a preset threshold value.

Optionally, the step of obtaining real-time road data obtained by the ground penetrating radar and extracting real-time target features in the real-time road data includes:

acquiring real-time road data acquired by a ground penetrating radar, forming the real-time road data into a matrix, and cutting the matrix into a slice set;

and extracting the target characteristics of each slice in the slice set to obtain the real-time target characteristics in the real-time road data.

Optionally, the step of cutting the real-time road data into a set of slices further comprises:

and removing clutter and gaining data of the real-time road data.

The invention also provides a positioning control device of the mobile carrier, which comprises a memory, a processor and a positioning control program of the mobile carrier, wherein the positioning control program of the mobile carrier is stored on the memory and can be operated on the processor, and the positioning control program of the mobile carrier is configured as the steps of the positioning method of the mobile carrier.

The invention also provides a storage medium, wherein the storage medium is stored with a positioning control program of the mobile carrier, and the positioning control program of the mobile carrier is executed by the processor to realize the steps of the positioning method of the mobile carrier.

The present invention also provides a positioning system for a mobile carrier, comprising:

the ground penetrating radar is used for acquiring real-time road data;

the positioning control device of the mobile carrier is electrically connected with the ground penetrating radar, and is the same as the positioning control device of the mobile carrier.

Optionally, the positioning system of the mobile carrier further includes a distance measuring device, and the distance measuring device is used for measuring a moving distance of the mobile carrier;

the positioning control device of the mobile carrier is electrically connected with the distance measuring device.

Optionally, the distance measuring device is a distance measuring wheel.

The invention also provides a mobile carrier, which comprises the positioning system of the mobile carrier.

In the technical scheme provided by the invention, the ground penetrating radar is used for collecting the echo characteristics of the underground target to obtain the real-time road data of the road, so that the positioning under the abnormal conditions without GNSS service and the like is realized; the extracted real-time target features are used for similarity calculation, so that the problem of high calculation complexity of original echo data is avoided, the real-time performance is ensured, and the data storage capacity is reduced.

Drawings

Fig. 1 is a schematic view of a connection structure of a positioning system of a mobile carrier according to the present invention;

fig. 2 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment;

fig. 3 is a schematic flow chart illustrating a positioning method for a mobile carrier according to the present invention;

FIG. 4 is a diagram of echo data of predetermined road data according to an exemplary embodiment;

FIG. 5 is a graph of echo data for real-time road data in an embodiment;

FIG. 6 is a graph comparing average decision distances of pre-determined road data and real-time road data according to an embodiment;

fig. 7 is a diagram of preset target features and real-time target features in an embodiment.

The reference numbers illustrate:

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.

It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

With the development of Global Navigation Satellite System (GNSS) applications represented by the Global Positioning System (GPS), the GNSS system is becoming an important infrastructure for national information construction, providing positioning, navigation and time service (PNT) information for a variety of different applications. As GNSS applications become deeper, the disadvantages of GNSS systems themselves become more apparent, mainly including: electromagnetic signal interference influences that positioning is difficult to achieve under the condition of geographic environment shielding (indoor and underground).

How to enhance the PNT service capability of the GNSS system, and even provide the PNT service capability completely independent of the implementation of the GNSS system becomes the key point of the development of the PNT application technology in the future. The ground penetrating radar realizes high-resolution detection of underground targets by using electromagnetic waves, and the underground targets are basically not influenced by the external environment, so the target characteristics are stable. The exploration and research utilize the underground target information obtained by the ground penetrating radar to realize the positioning under the abnormal state, and can effectively make up the defects of the existing means.

The method for positioning based on the data of the ground penetrating radar mainly comprises the following steps: 1) and acquiring echo data of the road underground target by using a ground penetrating radar system to form a prior underground target echo data map database, which is called a prior map database for short. 2) When the vehicle needs to be positioned, the ground penetrating radar system collects the echo data of the ground penetrating radar at the current position, called as an unregistered map, and carries out similarity calculation with the echo data of the ground penetrating radar in the prior map database. The time complexity of calculating the similarity using the raw echo data of the unregistered map and the raw echo data of the prior map database is high, and the real-time performance of positioning is difficult to achieve.

The invention provides a mobile carrier, which comprises a positioning system of the mobile carrier, and the mobile carrier comprising the positioning system of the mobile carrier is the protection content of the invention.

Referring to fig. 1, the present invention further provides a positioning system 100 for a mobile vehicle, including a ground penetrating radar 1 and a positioning control device 2 for the mobile vehicle; the ground penetrating radar 1 is used for acquiring real-time road data; the positioning control device 2 of the mobile carrier is electrically connected with the ground penetrating radar 1.

In the technical scheme provided by the invention, the ground penetrating radar 1 moves real-time road data of the current position, it needs to be noted that the real-time road data is radar echo data of the current position, the ground penetrating radar 1 is electrically connected with the positioning control device 2 of the mobile carrier to obtain real-time target characteristics, and the real-time position is judged by comparing the positioning control device 2 of the mobile carrier with preset target characteristics. The positioning under the abnormal state without GNSS service and the like is realized.

Further, the positioning system 100 of the mobile vehicle further includes a distance measuring device 3, wherein the distance measuring device 3 is used for measuring the moving distance of the mobile vehicle; the positioning control device 2 of the mobile carrier is electrically connected with the distance measuring device 3. During actual positioning, the corresponding features are obtained at certain intervals, so that the data are not too large, and the subsequent data processing calculation is facilitated.

In the embodiment provided by the present invention, the distance measuring device 3 is a distance measuring wheel.

In addition, referring to fig. 2, the present invention provides a positioning control device 2 of a mobile vehicle, wherein the positioning control device 2 of the mobile vehicle is electrically connected to a ground penetrating radar 1 for controlling a positioning system 100 of the mobile vehicle.

The control device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Memory 1005, which is a type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a positioning control program for a mobile vehicle.

Based on the above hardware structure, the present invention further provides a positioning method for a mobile carrier, please refer to fig. 3, which is an embodiment of the present invention.

The positioning method of the mobile carrier provided by the invention comprises the following steps:

s10, acquiring real-time road data acquired by the ground penetrating radar, and extracting real-time target characteristics in the real-time road data;

and S20, obtaining the real-time position of the ground penetrating radar according to the similarity between the real-time target characteristics and the preset target characteristics.

In the technical scheme provided by the invention, the ground penetrating radar 1 is used for collecting the echo characteristics of the underground target to obtain the real-time road data of the road, so that the positioning under abnormal conditions without GNSS service and the like is realized; the extracted real-time target features are used for similarity calculation, so that the problem of high calculation complexity of original echo data is avoided, the real-time performance is ensured, and the data storage capacity is reduced.

Further, step S20 is followed by:

s30, obtaining the moving distance measured by the distance measuring device;

and S40, outputting the real-time position according to the relation between the moving distance and the preset threshold value.

In this embodiment, the moving distance is a distance between the last positioning and the current positioning, and when the moving distance is smaller than a preset threshold, a real-time position is output; and when the moving distance is greater than the preset threshold value, recording the positioning position but not outputting the real-time position so as to obtain the distance between the positioning position and the real-time position in the next positioning and output the real-time position. The distance measuring device 3 is convenient for processing real-time road data, periodically outputs real-time positions and reduces data storage capacity.

On the other hand, step S10 includes:

s11, acquiring real-time road data acquired by the ground penetrating radar, forming a matrix by the real-time road data, and cutting the matrix into a slice set;

and S12, extracting the target characteristics of each slice in the slice set to obtain the real-time target characteristics in the real-time road data.

In this embodiment, a convolutional neural network is used to extract the dimensional target feature of each slice in a slice set, so as to obtain real-time target features of multiple dimensions. The convolution neural network is used for extracting the echo characteristics of the underground target, the robustness is achieved, and the echo characteristics of the target can be extracted under the complex underground environment.

The specific step of acquiring the real-time road data is to acquire data on a road with a length of l, the number of data points per road is M, the distance interval of data acquisition per road is d meters, and the collected real-time road data forms a matrix with a dimension of M × S, where S is l/d. And then cutting the real-time road data into (M-M +1) × (S-n +1) slice sets with dimensions of M × n by using a single-pixel overlapping window with the size of M × n, and extracting j × k dimensional target features of each slice in the slice sets by using a convolutional neural network to obtain (M-M +1) × (S-n +1) real-time target features with dimensions of j × k. And comparing the similarity between the real-time target characteristic and the preset target characteristic to obtain the current real-time position.

Further, the step of cutting the real-time road data into a set of slices further comprises:

and removing clutter and gaining data of the real-time road data. And the data are processed to facilitate the subsequent processing of the real-time road data.

It should be noted that the preset target feature is preset road data acquired by using a ground penetrating radar. The preset target feature uses a ground penetrating radar carrying a GPS system and a ranging wheel to collect preset road data along a route with the length of L meters. The number of data points collected by the ground penetrating radar is M, the distance interval between data points is d meters, and GPS coordinates of data points are recorded. The dimension of the collected preset road data is M multiplied by N, wherein N is L/d.

After data preprocessing, cutting the preset road data into (M-M +1) × (N-N +1) slice sets with dimensions of M × N by using a single-pixel overlapping window with the size of M × N, and extracting target features with dimensions of j × k of each slice in the slice sets by using a convolutional neural network to obtain (M-M +1) × (N-N +1) preset target features with dimensions of j × k. The preset target feature corresponds to the GPS coordinates.

The present invention provides a specific embodiment, in this embodiment, a ground penetrating radar carrying a GPS system and a ranging wheel is used to collect preset road data along a route with a length L of 97.27 m. The number of data points collected by the ground penetrating radar is M416, the interval between data points is d 0.0137M, and GPS coordinates of data points are recorded. The dimensionality of the collected preset road data is 416 multiplied by 7100;

referring to fig. 4, after removing clutter interference and automatic gain from the data, the preset road data is cut into 6685 slice sets with dimensions 416 × 416 by using a single-pixel overlapping window with a size of 416 × 416, and a target feature with dimensions of 1 × 1024 of each slice in the slice set is extracted by using a fast-RCNN convolutional neural network, so as to obtain 6685 preset target features with dimensions of 1 × 1024.

Real-time road data is collected using a mobile vehicle comprising a positioning system 100 of the mobile vehicle traveling a route having a length l of 5.7 m. The dimension of the collected real-time road data is 416 x 416.

Referring to fig. 5, after removing clutter interference and automatic gain from the real-time road data, the real-time road data is cut into 1 slice set with dimensions 416 × 416 by using a single-pixel overlapping window with a size 416 × 416, and a target feature with dimensions 1 × 1024 of each slice in the slice set is extracted by using a fast-RCNN convolutional neural network, so as to obtain a real-time target feature with dimensions 1 × 1024.

Referring to fig. 6 to 7, Mean Absolute Distance (MAD) is used as a measure of similarity. Traversing the preset target feature to calculate the average absolute distance between the preset target feature and the real-time target feature, and obtaining the preset target feature with the minimum average absolute distance (namely, the highest similarity) and the GPS coordinate of the feature; wherein, A is a real-time target characteristic data graph, B is a preset target characteristic with the highest most similarity, and the GPS coordinate of the preset target characteristic is taken as the current positioning position.

And calculating the distance between the current positioning GPS and the last positioning GPS, wherein the distance recorded by the distance measuring wheel is less than 2m of the threshold value, and outputting the GPS coordinate.

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 only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.