KR101042343B1 - 위치 Location recognition system of vehicle in port using sensor - Google Patents

Abstract

The present invention is a technique for recognizing the position of a vehicle in a port using a UWB sensor, rather than a conventional GPS, RFID in the technology of recognizing the position of the vehicle in the port. The position of the vehicle in the existing GPS position recognition system showed more than 5M. In the vehicle position recognition system using RFID, the water and container human error, which is a special environmental factor of a port, has a position error of 1 ~ 5M or more. However, the object of the present invention is to reduce the error value by using a speed filter that can have a position error value within 30 cm using the UWB signal and also consider the speed of the moving vehicle with a 30 cm error. to be.

In the method of reducing the position recognition error using the speed filter of the position recognition system of the vehicle in the port using the UWB sensor in the first aspect, the transmitting device 100 transmits a UWB signal to the receiving device (UWB sensor) 200. Step S110; A step (S120) of calculating a position of the originating apparatus 100 in the receiving apparatus 200; A third step (S130) of transmitting a signal including a location from the receiving device to a location recognition server 300; Step 4 (S140) of filtering the position value using a speed filter in consideration of the speed value of the vehicle in the position recognition server 300; A method for reducing the positional recognition error using the speed filter of the position recognition system of the vehicle in the harbor using the UWB sensor, comprising the step 5 of displaying the filtered position value on the graphic user interface (S150).

In a second aspect, in the position recognition system of the vehicle in the port using the UWB sensor, the transmission device 100 is installed in the vehicle in the port and transmits a specific signal; Receiving device 200 for receiving the signal transmitted from the source device 100, calculates the location of the source device 100 using the TDOA and delivers the received signal to the location recognition server; UWB, characterized in that it comprises a position recognition server 300 for receiving the signal transmitted from the receiving device 200 to calculate the speed of the transmitting device 100 and reduce the position error using the speed filter 310. A location recognition system of a vehicle in a port using a sensor is presented.

UWB (Ultra Wide Band), Vehicle Position Recognition System, Speed Filter

Description

PositionThe position recognition system of a vehicle in a harbor using a uwb sensor}

The present invention relates to a position recognition error reduction method using a speed filter of a location recognition system of a vehicle in a port using a UWB sensor and a location recognition system of a vehicle in a port using a UWB sensor. In more detail, the receiving device for transmitting a specific signal and the receiving device for receiving the signal transmitted from the transmitting device 100 calculates the position of the transmitting device using the TDOA and delivers the received signal to the location recognition server; Receiving the signal from the receiving device to calculate the speed of the transmitting device, using the speed filter to reduce the position error using a UWB sensor including a location recognition server in the harbor harbor position recognition system of the vehicle and the port using the UWB sensor The present invention relates to a position recognition error reduction method using a speed filter of a location recognition system of a vehicle.

The present invention uses the UWB sensor to increase the amount of containers and loading management system for intelligent automation terminal and ODCY (Off-Dock Container Yard), to improve the productivity and service time by identifying the position of the vehicle operating in the port The system aims to shorten the time. UWB Tag is attached to the vehicle in the port and UWB sensors are installed in the whole port terminal to create zones for each zone. When the vehicle passes, the system recognizes the location of the vehicle in the port using the UWB Tag signal.

The position recognition system of a vehicle in a conventional port is generally as follows.

1) A vehicle position recognition system using a GPS (Global Position System) or DGPS (Detail Global Position System). It is a system that recognizes vehicle position in a port by GPS coordinate value received from satellite using GPS attached to a vehicle. In this case, the position error value of the vehicle showed an error range of 1M to 5M or more, and the satellite signal cannot be received due to the change of weather environment.

2) Location recognition system of vehicle in port using Active RFID sensor. In this case, it is a system that recognizes the location of the vehicle by receiving the signal of the Acitve RFID Tag when the vehicle moves by installing the Active RFID Tag on the vehicle in the port and then installing the RFID reader at the port terminal. In this case, water and containers, which are special environmental factors such as ports, could not accurately receive the location of the vehicle due to scattering and reflection of RFID frequency.

3) Vehicle position recognition system using passive sensor. In this case, after the passive sensor is installed in the vehicle, Beacon is installed in the port to recognize the position of the vehicle using the signal of the sensor installed in the vehicle's car, but in this case, the frequency transmission distance is short so that the position of the vehicle can be recognized in a wide range. It is not enough.

In order to recognize the position of the vehicle to the environmental factors such as the port of the prior art has transmitted a lot of position error. In order to solve this problem, the main purpose of the present invention is to use a UWB sensor, and to apply a speed filter to more accurately recognize the position of a moving vehicle, rather than simply using the UWB frequency band to compensate for the existing shortcomings.

The present invention is to install the UWB Tag on the vehicle and to install the UWB sensor in the port terminal, to recognize the position of the vehicle operating in the port. In order to recognize the position of the vehicle more accurately, a speed filter using the speed of a moving vehicle is developed, and by using this, it is an object of the present invention to represent the position of the vehicle in the harbor with an actual distance less than about 30 cm.

In order to solve the above problems, in the position recognition error reduction method using the speed filter of the position recognition system of the vehicle in the port using the UWB sensor as a first aspect, the receiving device (UWB sensor) 200 in the transmitting device 100 Transmitting a UWB signal to the first step (S110); A step (S120) of calculating a position of the originating apparatus 100 in the receiving apparatus 200; A third step (S130) of transmitting a signal including a location from the receiving device to a location recognition server 300; Step 4 (S140) of filtering the position value using a speed filter in consideration of the speed value of the vehicle in the position recognition server 300; A method for reducing the positional recognition error using the speed filter of the position recognition system of the vehicle in the harbor using the UWB sensor, comprising the step 5 of displaying the filtered position value on the graphic user interface (S150).

In the first aspect,

Step 4-1 includes setting a position value calculated by the receiving apparatus and a moving time of the calling apparatus in a buffer in the speed filter; Setting a buffer value in a velocity filter to coordinates and movement time; Determining whether the value set in the coordinates and the movement time in the speed filter is an initial value; 4-4 to set the moving distance and the moving time to 0 when the speed filter is the initial value; 4-5 determining whether the moving distance is 0 in the speed filter; Steps 4-6 to move to step 4-8 when the moving distance is 0 in the speed filter, while dividing the moving distance by the moving time when the moving distance is not 0; 4-7 determining whether the moving speed is smaller than the maximum speed in the speed filter; In the speed filter, when the moving speed is smaller than the maximum speed, the coordinate value is set in the existing coordinates, and when the moving speed is larger than the maximum speed, it comprises four to eight steps proceeding to the above five steps,

The fourth step,

When the speed filter is not the initial value in the step 4-3, characterized in that it further comprises steps 4-9 to calculate the moving distance by using the coordinate value and the existing coordinate value.

In a second aspect, a position recognition system of a vehicle in a port using a UWB sensor, comprising: a transmitter 100 installed in a vehicle in a port and transmitting a specific signal; Receiving device 200 for receiving the signal transmitted from the source device 100, calculates the location of the source device 100 using the TDOA and delivers the received signal to the location recognition server; UWB, characterized in that it comprises a position recognition server 300 for receiving the signal transmitted from the receiving device 200 to calculate the speed of the transmitting device 100 and reduce the position error using the speed filter 310. A location recognition system of a vehicle in a port using a sensor is presented.

In the second aspect,

The location recognition server may include a speed filter 310 for filtering signals that deviate from a specific range by using a speed; It characterized in that it comprises a graphical user interface unit 320 for displaying the calculated position of the vehicle.

The effect of the present invention is to more accurately recognize the position of the vehicle in the port using the UWB sensor, thereby securing the disadvantages to the vehicle position recognition system using the existing GPS or Active RFID. Rather than simply using the UWB frequency to recognize the location of the vehicle, the speed filter using the speed of the moving object in consideration of the UWB frequency characteristics allows the location of the moving object to be serviced with a minimum margin of error. This service can reduce the efficiency and time of quantitative work in the port, and it is expected that shortening the time will greatly affect the cost reduction.

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the embodiment of the present invention will be described in detail.

First, when a UWB tag is installed in a vehicle and is operating in a port, a receiver (UWB sensor) installed in the port receives a signal from a UWB tag attached to the vehicle, and thus TDOA (Time Difference). Let's look at how to calculate the location of a vehicle using Of Arrival. First, as shown in FIG. 1, a UWB signal is first transmitted from a UWB tag to a receiver (UWB sensor). Second, as shown in FIG. 2, the angle and time of the transmitter (UWB Tag) are calculated using the signal reached from the sensor. Third, after the UWB signal, as shown in FIG. 3, the transmitting device (UWB Tag) sends an RF signal to the receiving device (UWB sensor). The location of the UWB tag is recognized by measuring the arrival time of the received UWB signal.

4 shows a hyperbola to obtain a formula for finding the position of the originating apparatus. The triangle becomes the UWB tag. If the distance between the receiver (UWB sensor) and the transmitter (UWB Tag) is assumed to be R1, R2, or R3, the difference between the distance between R2 and R1 (R2-R1) ) Can be calculated. At this time, the difference between the distances from two points is obtained by the hyperbolic equation of the points. Similarly, the difference between the distances of R3 and R2 (R3-R2) is calculated, and the hyperbolic equation of the distance between two points is constant. The hyperbolic equation is used to calculate the location of the UWB tag.

The hyperbolic equation used here is the same as Equation 1 and Equation 2.

Where c is the speed of propagation.

FIG. 5 shows an overall configuration diagram of a location recognition system of a vehicle in a port using a UWB sensor. It is composed of a transmitter 100, a receiver 200 and a location recognition server 300. The transmitting device 100 is a device installed in a vehicle in a port to transmit a specific signal. The receiving apparatus 200 receives the signal transmitted from the transmitting apparatus 100, calculates the position of the transmitting apparatus 100 using the TDOA, and transmits the received signal to the location recognition server. The location recognition server 300 receives the signal transmitted from the receiver 200 to calculate the speed of the transmitter 100 and reduces the positional error using the speed filter 310. The location recognition server 300 is composed of a speed filter 310, the graphical user interface 320. The speed filter 310 filters signals that deviate from a specific range by using a speed. The graphic user interface 320 displays the calculated position of the vehicle.

FIG. 6 is a flowchart illustrating a method for reducing a location recognition error using a speed filter of a location recognition system of a vehicle in a port using a UWB sensor. Position recognition error reduction method using the speed filter of the vehicle's position recognition system in the port is the first step (S110) and transmitting the UWB signal from the transmitter (UWB Tag) 100 to the receiver (UWB sensor) 200 In step 2 (S120) of calculating the position of the originating apparatus (UWB Tag) 100 in the receiving apparatus (UWB sensor) 200 and the signal including the position in the position recognition server 300 in the receiving apparatus 200 In step 3 (S130) of transmitting and the position recognition server 300 in consideration of the speed value of the vehicle to filter the position value using a speed filter (S140) and the filtered position value graphic user interface unit ( It consists of five steps (S150) displayed on 320.

The method of calculating the position of the originating apparatus (UWB Tag) 100 is to calculate the position of the originating apparatus (UWB Tag) 100 with the UWB signal received by each receiving apparatus 200 using a TDOA method. do. However, since the error of the UWB signal itself has an error of at least 30 cm from the actual distance, the error is corrected using a speed filter. When the position of the error of more than 30cm of the UWB signal is measured in the actual position and the value of the measured position, the velocity filter 310 used is ignored the data that the error is greatly generated, the data within 30cm Collect it and use it to represent the location. The speed filter divides the moving distance by the moving time to find the moving speed. Equation for this is the same as Equation 3, 4, 5.

In Equations 3, 4, and 5, D, T, and V represent a moving distance, a moving time, and a moving speed of the moving body, respectively. Xq, Yq, and Zq represent coordinates of X, Y, and Z before the UWB Tag 100 moves, and Xa, Ya, and Za represent X, Y after the UWB Tag 200 moves. And Z coordinates, respectively. Tq denotes a time when the signal before the movement of the originating device (UWB Tag) 100 is received, and Ta denotes a time when the signal is received after the movement of the originating device (UWB Tag) 100. Using the pre-movement time and post-movement time, T, which is the time of the moving time, can be obtained. Using the above equations 3, 4, and 5, it is possible to know the moving speed, that is, speed of the UWB tag 100. You can use the velocity to get the current coordinates and the distance you expect to move. At this time, the collected signal of the UWB tag 100 is far lower than or far beyond the expected distance, and the position of the UWB tag 100 received by using the data that is within the range is discarded. The error with the actual position can be reduced. When moving, the calculation of the position value is repeated using the speed filter 310. The reason why the calculation is continued is that error data exists in the values of the actual moving distance and the measured distance. When the error data is received without filtering and calculated and the distance value is expressed, the error of a considerable position is represented. Therefore, in order to reduce the error of the measured position, if more position value comes in using the allowable range, it is wrongly received data, so it discards this value and receives the data again to increase the accuracy of the position information. The effective distance is the allowable moving distance value multiplied by the moving speed and the time difference at the current position and the average value of the obtained errors. The received position value is compared with the calculated value, and if the coordinate by the received distance value is outside the allowable effective distance, the data that contributed significantly to the error among the values received by the sending device (UWB Tag) 100 is discarded and the next data is Wait and recalculate the coordinates.

FIG. 7 illustrates the above four steps (S140) of the method for reducing the position recognition error using the speed filter of the position recognition system of the vehicle in the port.

In the fourth step, the position recognition error reduction method using the speed filter of the position recognition system of the vehicle in the harbor using the UWB sensor, the speed filter 310 sets the position value calculated by the receiving device and the movement time of the transmitting device in the buffer. Step 4-1 and (S210) to; Step 4-2 (S220) of setting the buffer value in the coordinates and the movement time in the speed filter; Step 4-3 (S230) for determining whether the value set in the coordinates and the movement time in the speed filter is the initial value; Step 4-4 (S240) for setting the movement distance and the movement time to 0 when the initial value in the speed filter; Step 4-5 (S250) for determining whether the moving distance is 0 in the speed filter; Step 4-6, when the moving distance is 0 in the speed filter, while moving to step 4-8, when the moving distance is not 0, dividing the moving distance by the moving time to obtain a moving speed (S260); Step 4-7 (S270) for determining whether the moving speed is smaller than the maximum speed in the speed filter; In the speed filter, when the moving speed is smaller than the maximum speed, the coordinate value is set in the existing coordinates, and when the moving speed is larger than the maximum speed, the process includes steps 4-8 (S280). In addition, the step 4-3 (S290) for calculating the moving distance by using the coordinate value and the existing coordinate value when it is not the initial value in step 4-3.

It will be appreciated by those skilled in the art that various changes and modifications can be made without departing from the technical spirit of the present invention through the above description. Therefore, the technical scope of the present invention should not be limited only to the contents described in the embodiments, but should be determined by the claims.

1 illustrates a UWB signal transmission from a sending device (UWB Tag) to a receiving device (UWB sensor).

Figure 2 shows the calculation of the angle and time of the UWB tag using the signal arrived from the sensor.

Figure 3 shows that after the UWB signal, the transmitting device (UWB Tag) sends an RF signal to the receiving device (UWB sensor).

4 shows a hyperbola to obtain a formula for finding the position of the originating apparatus.

FIG. 5 shows an overall configuration diagram of a location recognition system of a vehicle in a port using a UWB sensor.

FIG. 6 is a flowchart illustrating a method for reducing a location recognition error using a speed filter of a location recognition system of a vehicle in a port using a UWB sensor.

FIG. 7 illustrates in detail the four steps S140 of the method for reducing the position recognition error using the speed filter of the position recognition system of the vehicle in the harbor.

<Description of Major Symbols in Drawing>

100: transmitter 200: receiver

201: Receiver 1 202: Receiver 2

203: receiver 3 300: location recognition server

310: speed filter 320: graphic user interface unit

Claims (5)

In the position recognition error reduction method using the speed filter of the position recognition system of the vehicle in the port using the UWB sensor, (a) transmitting a UWB signal from a calling device to a receiving device; (b) storing a calculated value in a buffer by calculating a position value and a moving time based on a signal received from the source apparatus in a speed filter; (c) determining, by the speed filter, whether the value stored in the buffer is an initial value; (d) setting a sequence number indicating that the value stored in the buffer is an initial value when the value stored in the buffer is determined to be an initial value; (e) setting 0 to a moving distance value when the sequence number is an initial value in the speed filter; (f) determining whether the moving distance value is 0 in the speed filter; (g) calculating a moving speed using the moving distance and the moving time in the speed filter when the moving distance is not zero; (h) determining whether the moving speed is smaller than the maximum speed in the speed filter; (i) a method for reducing positional recognition errors using a speed filter of a vehicle position recognition system of a port in a port using a UWB sensor, including setting a coordinate value in an existing coordinate when a moving speed is smaller than a maximum speed in the speed filter. The method according to claim 1, (j) if the value stored in the buffer is not an initial value as a result of the determination in step (c), calculating a moving distance in the speed filter using a value previously stored in the buffer and a currently received value. Position recognition error reduction method using the speed filter of the position recognition system of the vehicle in the port using the included UWB sensor. The method according to claim 1, (k) if the moving distance is 0 as a result of the determination in the step (f), the speed filter recognizes that the moving object is stopped and stores it as an existing coordinate value of the vehicle in the harbor using the UWB sensor. Position Recognition Error Reduction Method Using Velocity Filter of Position Recognition System. In a location recognition system of a vehicle in a port using a UWB sensor, A transmission device installed in a vehicle in the port and transmitting a UWB signal; A receiving device for receiving a UWB signal transmitted from the calling device, calculating a location of the calling device using a TDOA, and transmitting the received signal to a location recognition server; Receiving a signal transmitted from the receiving device to calculate the speed of the transmitting device, and using a speed filter to reduce the position error using a location recognition server, The speed filter calculates the position value and the movement time based on the signal received from the source apparatus, and stores the calculated value in the buffer, and determines whether the value stored in the buffer is the initial value in the speed filter, If the value stored in the speed filter is determined to be an initial value, the speed filter sets a sequence number indicating that the value stored in the buffer is an initial value, and if the sequence number is an initial value in the speed filter, 0 is set for the movement distance value. The speed filter determines whether the movement distance value is 0, and when the movement distance is not 0, the speed filter calculates the movement speed using the movement distance and the movement time, and the movement speed is the maximum speed in the speed filter. It is determined whether the smaller than, if the moving speed is smaller than the maximum speed in the speed filter, characterized in that for setting the coordinate value in the existing coordinates Location recognition system of vehicle in port using UWB sensor. The method according to claim 4, The location recognition server, Positioning system of the vehicle in the harbor using the UWB sensor, characterized in that it further comprises a graphical user interface for displaying the calculated position of the transmitting device.

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