CN106908054A - A kind of positioning path-finding method and device based on ultra-wideband signal - Google Patents
A kind of positioning path-finding method and device based on ultra-wideband signal Download PDFInfo
- Publication number
- CN106908054A CN106908054A CN201710148308.4A CN201710148308A CN106908054A CN 106908054 A CN106908054 A CN 106908054A CN 201710148308 A CN201710148308 A CN 201710148308A CN 106908054 A CN106908054 A CN 106908054A
- Authority
- CN
- China
- Prior art keywords
- ultra
- real
- time
- wideband
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of positioning path-finding method based on ultra-wideband signal, including step：Distance measurement request is sent to ultra-wideband base station；Obtain the target data that the ultra-wideband base station returns；The target data is blended in real-time scene graph, positioning map is generated, and relative position coordinates are drawn according to the positioning map；Cook up by the real-time routes of the relative position coordinates to coordinates of targets, target is reached according to the real-time routes.The present invention also provides a kind of positioning based on ultra-wideband signal and seeks footpath device.This method completes accurately space orientation using miniature ultra-wideband signalling arrangement, not only effectively reduces power consumption, also greatlys save computing resource, and the time of this kind of heavy calculating of operation is also rejected completely so as to more be effectively carried out task.And this method also precisely can be positioned to different targeted customers and be sought footpath in different size of Run-time scenario, so as to perform specific service role.
Description
Technical field
The present invention relates to robot localization technical field, more particularly to a kind of positioning path-finding method based on ultra-wideband signal
And device.
Background technology
With reaching its maturity for robot technology, the purchase cost of inner main component is gradually reduced, all kinds of machine National People's Congress
Amount puts it into commercial operation and service field will be possibly realized in the coming years.No matter for the robot of which species, it is for certainly
Body positioning in space, independent navigation, all it is one of the most basic and important function to the positioning of targeted customer.
Current autonomous positioning and the realization of navigation, mainly by by radar, camera, acceleration transducer, gyroscope, meter
The estimated location of itself is obtained after the sensor institute feedack fusion calculations such as step device, further according to the mobile road of target location planning
Footpath simultaneously performs task.And for targeted customer, then characteristics extraction is mainly carried out to visible scene by camera, recognized with this
And targeted customer is positioned so as to be serviced.
When carrying out fusion calculation using multi-sensor data and obtaining the estimated location of robot itself, for bussiness class or
The robot of consumer level, because cost reason, producer cannot install all the sensors for needing in theory, cannot also load onto very high
The sensor of precision, this causes to realize that the robot of itself status can shortly produce position excursion in action using the method,
Can temporarily be corrected and be drifted about with radar and camera scanning contrast space eigenvalues, but be related to substantial amounts of data among this
Calculate, and the central control unit of inexpensive robot can not typically provide computing capability powerful enough carry out such calculating and
The rapid fusion of multi-sensor data is calculated.For recognizing and positioning being serviced object, equally meet with to enter image feature value
The a large amount of problems for calculating of row.And for robot when a large area provides service to many people, by existing method, machine
Device people is the being serviced object that cannot be positioned at outside its sight line, cannot know at all who need service, go which place look for he/
She, has limited to the application scenarios of robot significantly.
Currently available technology use multisensor enter to advance fusion calculation obtain robot itself estimated location when, machine
Device people cannot be beyond station keeping radar, camera sight line target, it is impossible to the outer target of sight line is carried out seeking footpath movement, limits to robot
Application scenarios；And, the universal precision of single-sensor is not high and position excursion easily occurs, and MULTISENSOR INTEGRATION is using causing cost
It is significantly increased and mass data can not be met and calculates treatment so as to quickly be sought footpath.
The above is only used for auxiliary and understands technical scheme, does not represent and recognizes that the above is existing skill
Art.
The content of the invention
It is a primary object of the present invention to provide a kind of positioning path-finding method and device based on ultra-wideband signal, it is intended to solve
Certainly at present positioning seek footpath precision it is not high and cannot be beyond station keeping radar or camera sight line target, it is impossible to the outer target of sight line is entered
The problems such as row seeks footpath movement, the application scenarios of limitation robot.
To solve the above problems, the application provides a kind of positioning path-finding method based on ultra-wideband signal, including step：
Distance measurement request is sent to ultra-wideband base station；
Obtain the target data that the ultra-wideband base station returns；
The target data is blended in real-time scene graph, positioning map is generated, and obtain according to the positioning map
Go out relative position coordinates；
Cook up by the real-time routes of the relative position coordinates to coordinates of targets, mesh is reached according to the real-time routes
Mark.
Preferably, the target data for obtaining the ultra-wideband base station return, including：
Obtain the arrival ultra-wideband base corresponding with the distance measurement request sent no less than three ultra-wideband base stations
The absolute distance data stood.
Preferably, described acquisition corresponding with the distance measurement request is arrived no less than what three ultra-wideband base stations sent
Up to after the absolute distance data of the ultra-wideband base station, also include：
Transfer the absolute distance data；
The coordinate data in the ultra-wideband base station coordinates system is calculated using trilateration, number of targets is generated
According to.
Preferably, the target data is blended in real-time scene graph, generates positioning map, and according to the positioning
Map draws relative position coordinates, including：
Acquisition includes the real-time scene graph data of real-time map coordinate system；
The real-time map coordinate system and the ultra-wideband base station coordinates system are merged, positioning map is generated；
Calculate the initial coordinate in the positioning map；
Fusion Multifunction Sensor returned data is verified to the initial coordinate, draws relative position coordinates.
Preferably, it is described to cook up by the real-time routes of the relative position coordinates to coordinates of targets, also include：
Real-time location coordinates are calculated according to relative position coordinates；
The real-time routes for reaching target are cooked up according to the real-time location coordinates and the coordinates of targets；
Carry out seeking footpath movement by the real-time routes, reach the target location.
To solve the above problems, the application also provides a kind of positioning based on ultra-wideband signal and seeks footpath device, including：Send
Module, acquisition module, Fusion Module and planning module；
The sending module, for sending distance measurement request to ultra-wideband base station；
The acquisition module, for obtaining the target data that the ultra-wideband base station returns；
The Fusion Module, for the target data to be blended in real-time scene graph, generates positioning map, and root
Relative position coordinates are drawn according to the positioning map；
The planning module, for cooking up by the real-time routes of the relative position coordinates to coordinates of targets, according to institute
State real-time routes and reach target.
Preferably, the acquisition module, is additionally operable to obtain sending no less than three ultra-wideband base stations with the survey
Away from the absolute distance data for asking corresponding arrival ultra-wideband base station.
Preferably, also include：Transfer module and computing module；
It is described to transfer module, for transferring the absolute distance data；
The computing module, for calculating the coordinate in the ultra-wideband base station coordinates system using trilateration
Data, generate target data.
Preferably, the acquisition module, being additionally operable to obtain includes the real-time scene graph data of real-time map coordinate system；
The Fusion Module, is additionally operable to merge the real-time map coordinate system and the ultra-wideband base station coordinates system, generation
Positioning map；
The computing module, is additionally operable to calculate the initial coordinate in the positioning map；
The Fusion Module, is additionally operable to fusion Multifunction Sensor returned data and the initial coordinate is verified, and obtains
Go out relative position coordinates.
Preferably, also include：Planning module and mobile module；
The computing module, is additionally operable to calculate real-time location coordinates according to relative position coordinates；
The planning module, the reality of target is reached for being cooked up according to the real-time location coordinates and the coordinates of targets
When route；
The mobile module, for carrying out seeking footpath movement by the real-time routes, reaches the target location.
This method completes accurately space orientation using miniature ultra-wideband signalling arrangement, not only effectively reduces power consumption, also
Computing resource is greatlyd save, the time for running this kind of heavy calculating of knowing clearly also is rejected completely so as to more be effectively carried out appointing
Business.And this method accurate in the Run-time scenario of different sizes can also be positioned and sought footpath to different targeted customers,
So as to perform specific service role.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of positioning path-finding method of the present invention based on ultra-wideband signal；
Fig. 2 is the refinement schematic flow sheet based on first embodiment step S200 in the second embodiment of the present invention；
Fig. 3 is the refinement schematic flow sheet based on second embodiment step S300 in the third embodiment of the present invention；
Fig. 4 is the refinement schematic flow sheet based on 3rd embodiment step S400 in the fourth embodiment of the present invention；
Fig. 5 is the high-level schematic functional block diagram of the first embodiment that positioning of the present invention based on ultra-wideband signal seeks footpath device；
Fig. 6 is the high-level schematic functional block diagram of the second embodiment that positioning of the present invention based on ultra-wideband signal seeks footpath device；
Fig. 7 is the high-level schematic functional block diagram of the 3rd embodiment that positioning of the present invention based on ultra-wideband signal seeks footpath device；
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
A kind of positioning path-finding method based on ultra-wideband signal that the present invention is provided.
Reference picture 1, Fig. 1 is that the flow of the first embodiment of positioning path-finding method of the present invention based on ultra-wideband signal is illustrated
Figure.
In the first embodiment, the positioning path-finding method based on ultra-wideband signal includes：
Step S100, distance measurement request is sent to ultra-wideband base station；
Currently available technology use multisensor enter to advance fusion calculation obtain robot itself estimated location when, machine
Device people cannot be beyond station keeping radar, camera sight line target, it is impossible to realizing that outer target carries out seeking footpath movement, limitation robot
Application scenarios；And, the universal precision of single-sensor is not high and position excursion easily occurs, and MULTISENSOR INTEGRATION is using causing cost
It is significantly increased and mass data can not be met and calculates treatment so as to quickly be sought footpath.A kind of ultra-wide for providing in the present embodiment
The localization method of frequency signal, uses the returned data of ultra-wideband pulse and carries out the principle of cross validation and positioned, and positions
More accurate and interference-free, real-time update data make robot keep accurately seeking footpath working condition in running status.
In the present embodiment, distance measurement request is sent to ultra-wideband signal base station；In addition before the request is sent can be before thering is encryption to need
Put, logging request or hand shake procedure are first proposed, for example, carrying out adding with the RSA of the use rivest, shamir, adelman of base station first
Close handshake procedure, when foundation and after shaking hands of base station, you can be transmitted, further sends distance measurement request to base station.
Step S200, obtains the target data that the ultra-wideband base station returns；
In the present embodiment, ultra-wideband signal base station is asked, and then after measuring the absolute distance with receiver, will be away from
Response signal is put into from data to beam back, after the target data of ultra-wideband base station return is got, carry out next step and seek footpath program.
Step S300, the target data is blended in real-time scene graph, generates positioning map, and according to described fixed
Position map draws relative position coordinates；
In the present embodiment, Fusion Module 30 specifically may include particle filter, after getting target data, particle
Wave filter can simultaneously receive scene map datum, and base station coordinates system is merged with map coordinates system, calculate the reception of ultra-wideband signal
Relative position coordinates of the device in map.
Step S400, cooks up by the real-time routes of the relative position coordinates to coordinates of targets, according to the real-time road
Line reaches target.
The present invention proposes a kind of positioning path-finding method and device based on ultra-wideband signal, and wherein this method is using miniature super
Broadband signal equipment completes accurately space orientation, not only effectively reduces power consumption, also greatlys save computing resource, also completely
Rejecting knows clearly the time for running this kind of heavy calculating so as to more be effectively carried out task.And this method also can be different big
Precisely different targeted customers is positioned and footpath is sought in small Run-time scenario, so as to perform specific service role.
Reference picture 2, Fig. 2 is that the flow of the second embodiment of positioning path-finding method of the present invention based on ultra-wideband signal is illustrated
Figure.
Based on the first embodiment of the above-mentioned positioning path-finding method based on ultra-wideband signal, the step S200 includes：
Step S210, obtains the arrival corresponding with the distance measurement request sent no less than three ultra-wideband base stations
The absolute distance data of ultra-wideband base station.
Step S220, transfers the absolute distance data；
Step S230, the coordinate data in the ultra-wideband base station coordinates system is calculated using trilateration, raw
Into target data.
In the present embodiment, the trilateration of use deduces the coordinate of target data, and receiver is connected to minimum 3 bases
The range data stood, and calculate its coordinate in base station coordinates system with trilateration.It is to be appreciated that trilateration is
A series of continuous triangles are laid on the ground, take the method for surveying side mode to determine each triangular apex horizontal level.
It is one of the method for setting up geodesic control net and engineering surveying control network.When laying control net with trilateration, with continuous three
It is angular to constitute lock shape or netted, three sides of measurement wherein each triangle, and initial azimuth is set with the survey of astronomical surveing method, so
Afterwards from a starting point and azimuth, the azimuth on other each sides, and each triangular apex are calculated using the length of side of measurement
Horizontal level in the earth coordinates for being used.Angular surveying is not carried out due to laying lock network with Trilateration methods, is pushed away
Calculate azimuthal error and be easy to rapid accumulation, so need to be surveyed by astrogeodetic surveying that closeer initial azimuth is set, to carry
The bearing accuracy of trilateration lock network high.Additionally, in triangulation, it can should be equal to the triangle sum of triangle theoretical
It is worth this condition to be checked as the inside of triangulation, and surveys side triangle then without this checking conditions, this is lacking for trilateration
Point.Three wavelengths of electromagnetic rangefinders are occurred in that within 1979, certainty of measurement improves an order of magnitude.With pushing away for this instrument
Extensively, trilateration will be widely used.When weather condition during operation is unfavorable for angular observation, microwave ranger is used
Second-class or more low trilateration lock network is set up, there is economic benefit higher.Laser range finder is used in engineering survey
Or infrared range-measurement system lays the trilateration control net of short side.In order to specific purposes lay high accuracy geodetic chain net
When, three sides and the triangle of each triangle can be measured, provide orientation control then at the astronomil for surveying suitable density is wherein added.This
The method of kind is referred to as triangulateration.Such lock network is accumulated in the absence of scale error, and azimuthal error accumulation has also been controlled, therefore it is smart
Degree is high.In the present embodiment, calculated by trilateration and positioned, deviation can be controlled in+- 10 centimetres in.Further, exist
After return obtains target data, target data is issued into particle filter with ultralow frequency, can accomplish to alleviate hair to a certain extent
Heat and the further purpose of reduction power consumption.
Reference picture 3, Fig. 3 is that the flow of the 3rd embodiment of positioning path-finding method of the present invention based on ultra-wideband signal is illustrated
Figure.
Based on the second embodiment of the above-mentioned positioning path-finding method based on ultra-wideband signal, the step S300 includes：
Step S310, acquisition includes the real-time scene graph data of real-time map coordinate system；
Step S320, merges the real-time map coordinate system and the ultra-wideband base station coordinates system, generates positioning map；
Step S330, calculates the initial coordinate in the positioning map；
Step S340, fusion Multifunction Sensor returned data is verified to the initial coordinate, draws relative position
Coordinate.
In the present embodiment, the data of real-time scene graph are obtained by particle filter first, the data specifically can be with
It is default map contextual data, or by the real-time scene graph of sensor field surveys.The coordinate system of base station is completed to real-time
The conversion of scene map coordinates system, then probability calculation is carried out with corresponding weighted value by Multifunction Sensor returned data,
Draw final result.Multifunction Sensor includes that gps satellite location data, infrared sensor, camera Scan orientation seek footpath dress
Put, radar scanning alignment sensor etc., the verification by various data to positioning result finally gives more accurately data, exempts from
Go due to inexpensive sensor being used alone or the problem of all issuable position excursions of ultra-wideband pulse being used alone,
Improve positioning precision.
Reference picture 4, Fig. 4 is that the flow of the 5th embodiment of positioning path-finding method of the present invention based on ultra-wideband signal is illustrated
Figure.
Based on the fourth embodiment of the above-mentioned positioning path-finding method based on ultra-wideband signal, include in the step S400：
Step S410, real-time location coordinates are calculated according to relative position coordinates；
Step S420, the real-time routes for reaching target are cooked up according to the real-time location coordinates and the coordinates of targets；
Step S430, carries out seeking footpath movement by the real-time routes, reaches the target location.
In the present embodiment, the real-time location coordinates according to where the robot that relative position coordinates are calculated, are knowing mesh
In the case of cursor position, the optimal path up to target is planned for.Further, present motion state can be combined, sends suitable
When translational speed instruction so that electric motor speed controller can control its along plan path walking, finally reach mesh
Cursor position.For example, the real time position that the relative position coordinates that robot is obtained and is calculated by particle filter are calculated
Coordinate is planned that integration objective coordinate calculates optimal path, and optimal path and returns and carry out not to carry out data at any time
The optimal path of disconnected computing, so that more accurate reach target location.
Additionally, the present invention also provides a kind of positioning based on ultra-wideband signal seeks footpath device.
Reference picture 5, Fig. 5 is the high-level schematic functional block diagram of the first embodiment of secure interactive device of the present invention.
In the first embodiment, the secure interactive device includes：Sending module 10, acquisition module 20, Fusion Module 30
With planning module 40；
The sending module 10, for sending distance measurement request to ultra-wideband base station；
Currently available technology use multisensor enter to advance fusion calculation obtain robot itself estimated location when, machine
Device people cannot be beyond station keeping radar, camera sight line target, it is impossible to the outer target of sight line is carried out seeking footpath movement, limits to robot
Application scenarios；And, the universal precision of single-sensor is not high and position excursion easily occurs, and MULTISENSOR INTEGRATION is using causing cost
It is significantly increased and mass data can not be met and calculates treatment so as to quickly be sought footpath.A kind of ultra-wide for providing in the present embodiment
The localization method of frequency signal, uses the returned data of ultra-wideband pulse and carries out the principle of cross validation and positioned, and positions
More accurate and interference-free, implementation is updated the data and makes robot keep accurately seeking footpath working condition in running status.
It is that ultra-wideband reception of impulse device ultra-wideband signal micro device first (surpasses first by sending module 10 in the present embodiment
Broadband signal receiver) send distance measurement request to ultra-wideband signal base station；There can be encryption needs before the request is sent in addition
On the premise of, logging request or hand shake procedure are first proposed, for example, carrying out first and the use rivest, shamir, adelman of base station
Rsa encryption handshake procedure, when foundation and after shaking hands of base station, you can be transmitted, further sends distance measurement request to base station.
The acquisition module 20, for obtaining the target data that the ultra-wideband base station returns；
In the present embodiment, ultra-wideband signal base station is asked, and then after measuring the absolute distance with receiver, will be away from
Response signal is put into from data to beam back, after the target data that ultra-wideband base station returns is got by acquisition module 20, carry out
Next step seeks footpath program.
The Fusion Module 30, for the target data to be blended in real-time scene graph, generates positioning map, and
Relative position coordinates are drawn according to the positioning map；
In the present embodiment, Fusion Module 30 specifically may include particle filter, after getting target data, particle
Wave filter can simultaneously receive scene map datum, and base station coordinates system is merged with map coordinates system, calculate the reception of ultra-wideband signal
Relative position coordinates of the device in map.
The planning module 40, for cooking up by the real-time routes of the relative position coordinates to coordinates of targets, according to
The real-time routes reach target.
The acquisition module 20, is additionally operable to obtain sending no less than three ultra-wideband base stations with the distance measurement request
The absolute distance data of corresponding arrival ultra-wideband base station.
The present invention proposes a kind of positioning path-finding method and device based on ultra-wideband signal, this method do not use radar or
In the case that camera data carry out a large amount of characteristic value contrast contings, only can just be completed accurately with miniature ultra-wideband signalling arrangement
Space orientation, this not only effectively reduces the power consumption of mobile robot, also greatlys save the calculating money of robot control unit
Source, also rejects to know clearly and runs the time of this kind of heavy calculating completely, robot is more effectively carried out task.And we
Method also enables that robot is precisely positioned to different targeted customers and sought footpath in the Run-time scenario of different sizes, from
And perform specific service role.
Reference picture 6, Fig. 6 is the high-level schematic functional block diagram of the second embodiment of secure interactive device of the present invention.
The first embodiment of footpath device is sought based on the above-mentioned positioning based on ultra-wideband signal, secure interactive dress in the present embodiment
Putting also includes：Transfer module 50 and computing module 60；
It is described to transfer module 50, for transferring the absolute distance data；
The computing module 60, for calculating the seat in the ultra-wideband base station coordinates system using trilateration
Mark data, generate target data.
The acquisition module 20, being additionally operable to obtain includes the real-time scene graph data of real-time map coordinate system；
The Fusion Module 30, is additionally operable to merge the real-time map coordinate system and the ultra-wideband base station coordinates system, raw
Into positioning map；
The computing module 60, is additionally operable to calculate the initial coordinate in the positioning map；
The Fusion Module 30, is additionally operable to fusion Multifunction Sensor returned data and the initial coordinate is verified,
Draw relative position coordinates.
In the present embodiment, data acquisition and the meter of relative position coordinates are carried out by transferring module 50 and computing module 60
Calculate, specifically, the trilateration for using deduces the coordinate of target data, receiver is connected to the distance number of minimum 3 base stations
According to, and calculate its coordinate in base station coordinates system with trilateration.It is to be appreciated that trilateration is cloth on the ground
If a series of continuous triangles, the method for surveying side mode to determine each triangular apex horizontal level is taken.It is to set up the earth
One of method of control net and engineering surveying control network.When laying control net with trilateration, with continuous triangular into lock
Shape is netted, three sides of measurement wherein each triangle, and sets initial azimuth with the survey of astronomical surveing method, then from a starting
Point and azimuth are set out, the azimuth on other each sides is calculated using the length of side of measurement, and each triangular apex is being used
Horizontal level in earth coordinates.Angular surveying is not carried out due to laying lock network with Trilateration methods, is calculated azimuthal
Error is easy to rapid accumulation, so need to be surveyed by astrogeodetic surveying that closeer initial azimuth is set, to improve trilateration
The bearing accuracy of lock network.Additionally, in triangulation, its theoretical value this condition can should be equal to the triangle sum of triangle
Checked as the inside of triangulation, and survey side triangle then without this checking conditions, this is the shortcoming of trilateration.Go out within 1979
Three wavelengths of electromagnetic rangefinders are showed, certainty of measurement improves an order of magnitude.With the popularization of this instrument, trilateration will
It is widely used.When weather condition during operation is unfavorable for angular observation, set up second-class or more with microwave ranger
Low trilateration lock network, there is economic benefit higher.Laser range finder or infrared range-measurement system are used in engineering survey
Lay the trilateration control net of short side.When laying high accuracy geodetic chain net for specific purposes, can measure every
Three sides of individual triangle and triangle, orientation control is provided then at the astronomil for surveying suitable density is wherein added.This method is referred to as side
Angular measurement.Such lock network is accumulated in the absence of scale error, and azimuthal error accumulation has also been controlled, therefore its precision is high.At this
In embodiment, calculated by trilateration and positioned, deviation can be controlled in+- 10 centimetres in.Further, mesh is obtained in return
After mark data, target data is issued into particle filter with ultralow frequency, can accomplish to alleviate to a certain extent and generate heat and further
Reduce the purpose of power consumption.
Reference picture 7, Fig. 7 is the high-level schematic functional block diagram of the 3rd embodiment of secure interactive device of the present invention.
The second embodiment of footpath device is sought based on the above-mentioned positioning based on ultra-wideband signal, secure interactive dress in the present embodiment
Putting also includes：Mobile module 70；
The computing module 60, is additionally operable to calculate real-time location coordinates according to relative position coordinates；
The planning module 40, is additionally operable to cook up arrival target with the coordinates of targets according to the real-time location coordinates
Real-time routes；
The mobile module 70, for carrying out seeking footpath movement by the real-time routes, reaches the target location.
In the present embodiment, the real time position where the robot for being calculated with relative position coordinates according to computing module 60 is sat
Mark, in the case where target location is known, the optimal path up to target is planned for using planning module 40.Further, can be with
With reference to present motion state, appropriate translational speed instruction is sent so that electric motor speed controller can utilize mobile module
It walks along the path planned for 70 controls, finally reaches target location.For example, robot is obtained simultaneously by particle filter
The real-time location coordinates being calculated are planned that integration objective coordinate calculates optimal path, and optimal path to enter at any time
Row data are returned and carry out the optimal path of continuous computing, so that more accurate reach target location.
The preferred embodiments of the present invention are these are only, the scope of the present invention is not thereby limited, it is every to be said using the present invention
Equivalent structure or equivalent flow conversion that bright book and accompanying drawing content are made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (10)
1. a kind of positioning path-finding method based on ultra-wideband signal, it is characterised in that including step：
Distance measurement request is sent to ultra-wideband base station；
Obtain the target data that the ultra-wideband base station returns；
The target data is blended in real-time scene graph, positioning map is generated, and phase is drawn according to the positioning map
To position coordinates；
Cook up by the real-time routes of the relative position coordinates to coordinates of targets, target is reached according to the real-time routes.
2. the positioning path-finding method of ultra-wideband signal is based on as claimed in claim 1, it is characterised in that the acquisition is described super
The target data that wideband base station returns, including：
Obtain and be no less than the arrival ultra-wideband base station corresponding with the distance measurement request that three ultra-wideband base stations send
Absolute distance data.
3. the positioning path-finding method of ultra-wideband signal is based on as claimed in claim 2, it is characterised in that the acquisition is no less than
The absolute distance number that reaches the ultra-wideband base station corresponding with the distance measurement request that three ultra-wideband base stations send
After, also include：
Transfer the absolute distance data；
The coordinate data in the ultra-wideband base station coordinates system is calculated using trilateration, target data is generated.
4. the positioning path-finding method of ultra-wideband signal is based on as claimed in claim 3, it is characterised in that by the target data
It is blended in real-time scene graph, generates positioning map, and relative position coordinates is drawn according to the positioning map, including：
Acquisition includes the real-time scene graph data of real-time map coordinate system；
The real-time map coordinate system and the ultra-wideband base station coordinates system are merged, positioning map is generated；
Calculate the initial coordinate in the positioning map；
Fusion Multifunction Sensor returned data is verified to the initial coordinate, draws relative position coordinates.
5. the positioning path-finding method of ultra-wideband signal is based on as claimed in claim 4, it is characterised in that described to cook up by institute
The real-time routes of relative position coordinates to coordinates of targets are stated, is also included：
Real-time location coordinates are calculated according to relative position coordinates；
The real-time routes for reaching target are cooked up according to the real-time location coordinates and the coordinates of targets；
Carry out seeking footpath movement by the real-time routes, reach target location.
6. a kind of positioning based on ultra-wideband signal seeks footpath device, it is characterised in that including：Sending module, acquisition module, fusion
Module and planning module；
The sending module, for sending distance measurement request to ultra-wideband base station；
The acquisition module, for obtaining the target data that the ultra-wideband base station returns；
The Fusion Module, for the target data to be blended in real-time scene graph, generates positioning map, and according to institute
State positioning map and draw relative position coordinates；
The planning module, for cooking up by the real-time routes of the relative position coordinates to coordinates of targets, according to the reality
When route reach target.
7. the positioning based on ultra-wideband signal as claimed in claim 6 seeks footpath device, it is characterised in that
The acquisition module, is additionally operable to obtain corresponding with the distance measurement request no less than what three ultra-wideband base stations sent
Arrival ultra-wideband base station absolute distance data.
8. the positioning based on ultra-wideband signal as claimed in claim 7 seeks footpath device, it is characterised in that also include：Transfer mould
Block and computing module；
It is described to transfer module, for transferring the absolute distance data；
The computing module, for calculating the number of coordinates in the ultra-wideband base station coordinates system using trilateration
According to generation target data.
9. the positioning based on ultra-wideband signal as claimed in claim 8 seeks footpath device, it is characterised in that
The acquisition module, being additionally operable to obtain includes the real-time scene graph data of real-time map coordinate system；
The Fusion Module, is additionally operable to merge the real-time map coordinate system and the ultra-wideband base station coordinates system, generation positioning
Map；
The computing module, is additionally operable to calculate the initial coordinate in the positioning map；
The Fusion Module, is additionally operable to fusion Multifunction Sensor returned data and the initial coordinate is verified, and draws phase
To position coordinates.
10. the positioning based on ultra-wideband signal as claimed in claim 9 seeks footpath device, it is characterised in that also include：Planning mould
Block and mobile module；
The computing module, is additionally operable to calculate real-time location coordinates according to relative position coordinates；
The planning module, the real-time road of target is reached for being cooked up according to the real-time location coordinates and the coordinates of targets
Line；
The mobile module, for carrying out seeking footpath movement by the real-time routes, reaches the target location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148308.4A CN106908054A (en) | 2017-03-14 | 2017-03-14 | A kind of positioning path-finding method and device based on ultra-wideband signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148308.4A CN106908054A (en) | 2017-03-14 | 2017-03-14 | A kind of positioning path-finding method and device based on ultra-wideband signal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106908054A true CN106908054A (en) | 2017-06-30 |
Family
ID=59186425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710148308.4A Pending CN106908054A (en) | 2017-03-14 | 2017-03-14 | A kind of positioning path-finding method and device based on ultra-wideband signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106908054A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110572811A (en) * | 2019-09-19 | 2019-12-13 | 环旭电子股份有限公司 | Ultra-wideband dynamic positioning method and system thereof |
| CN112415524A (en) * | 2019-08-23 | 2021-02-26 | 深圳市优必选科技股份有限公司 | Robot and positioning navigation method and device thereof |
| US11294070B2 (en) * | 2019-11-29 | 2022-04-05 | Ai4 International Oy | Method and system for correcting errors in location data |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011015939A2 (en) * | 2009-08-03 | 2011-02-10 | Xsens Holding B.V. | Inertial sensor kinematic coupling |
| CN102186238A (en) * | 2011-04-07 | 2011-09-14 | 北京邮电大学 | Positioning method and device based on electronic map |
| CN103024787A (en) * | 2012-11-27 | 2013-04-03 | 中国电信股份有限公司云计算分公司 | Information processing method and information processing device |
| CN103148855A (en) * | 2013-02-27 | 2013-06-12 | 东南大学 | INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method |
| CN103410512A (en) * | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN104864873A (en) * | 2015-06-09 | 2015-08-26 | 中国科学院上海高等研究院 | Method for helping map positioning by utilizing human motion features |
| CN104936144A (en) * | 2015-06-18 | 2015-09-23 | 深圳市润安科技发展有限公司 | Visualization system and visualization method for supervision place personnel movement |
| CN205427613U (en) * | 2015-11-20 | 2016-08-03 | 南车株洲电力机车研究所有限公司 | Road vehicle autopilot control system based on ultra wide band positioning system |
| CN105824003A (en) * | 2014-12-16 | 2016-08-03 | 国家电网公司 | Indoor moving target positioning method based on trajectory smoothing |
| CN105865451A (en) * | 2016-04-19 | 2016-08-17 | 深圳市神州云海智能科技有限公司 | Method and device applied to indoor location of mobile robot |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106352869A (en) * | 2016-08-12 | 2017-01-25 | 上海理工大学 | Indoor localization system for mobile robot and calculation method thereof |
-
2017
- 2017-03-14 CN CN201710148308.4A patent/CN106908054A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011015939A2 (en) * | 2009-08-03 | 2011-02-10 | Xsens Holding B.V. | Inertial sensor kinematic coupling |
| CN102186238A (en) * | 2011-04-07 | 2011-09-14 | 北京邮电大学 | Positioning method and device based on electronic map |
| CN103024787A (en) * | 2012-11-27 | 2013-04-03 | 中国电信股份有限公司云计算分公司 | Information processing method and information processing device |
| CN103148855A (en) * | 2013-02-27 | 2013-06-12 | 东南大学 | INS (inertial navigation system)-assisted wireless indoor mobile robot positioning method |
| CN103410512A (en) * | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN105824003A (en) * | 2014-12-16 | 2016-08-03 | 国家电网公司 | Indoor moving target positioning method based on trajectory smoothing |
| CN104864873A (en) * | 2015-06-09 | 2015-08-26 | 中国科学院上海高等研究院 | Method for helping map positioning by utilizing human motion features |
| CN104936144A (en) * | 2015-06-18 | 2015-09-23 | 深圳市润安科技发展有限公司 | Visualization system and visualization method for supervision place personnel movement |
| CN205427613U (en) * | 2015-11-20 | 2016-08-03 | 南车株洲电力机车研究所有限公司 | Road vehicle autopilot control system based on ultra wide band positioning system |
| CN105865451A (en) * | 2016-04-19 | 2016-08-17 | 深圳市神州云海智能科技有限公司 | Method and device applied to indoor location of mobile robot |
| CN105888338A (en) * | 2016-05-26 | 2016-08-24 | 山东建筑大学 | UWB-positioning-based intelligent automobile transfer robot and control method thereof |
| CN106352869A (en) * | 2016-08-12 | 2017-01-25 | 上海理工大学 | Indoor localization system for mobile robot and calculation method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415524A (en) * | 2019-08-23 | 2021-02-26 | 深圳市优必选科技股份有限公司 | Robot and positioning navigation method and device thereof |
| CN110572811A (en) * | 2019-09-19 | 2019-12-13 | 环旭电子股份有限公司 | Ultra-wideband dynamic positioning method and system thereof |
| CN110572811B (en) * | 2019-09-19 | 2022-06-07 | 环旭电子股份有限公司 | Ultra-wideband dynamic positioning method and system thereof |
| US11294070B2 (en) * | 2019-11-29 | 2022-04-05 | Ai4 International Oy | Method and system for correcting errors in location data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11187540B2 (en) | Navigate, track, and position mobile devices in GPS-denied or GPS-inaccurate areas with automatic map generation | |
| US20190272676A1 (en) | Local positioning system for augmented reality applications | |
| KR101728123B1 (en) | Simultaneous Localization and Mapping by Using Earth's Magnetic Fields | |
| EP2844009B1 (en) | Method and system for determining location and position of image matching-based smartphone | |
| KR101099484B1 (en) | The apparatus and method of 3d map modeling | |
| CN109405829A (en) | Pedestrian's method for self-locating based on smart phone audio-video Multi-source Information Fusion | |
| CN108810133A (en) | A kind of intelligent robot localization method and positioning system based on UWB and TDOA algorithms | |
| CN108732603A (en) | Method and apparatus for positioning vehicle | |
| CN109341679A (en) | A kind of smart machine air navigation aid and navigation system | |
| CN104236548A (en) | Indoor autonomous navigation method for micro unmanned aerial vehicle | |
| Zwirello et al. | Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation | |
| WO2018076621A1 (en) | Method for obtaining location relation, and method, device, and system for searching for object | |
| CN104205960A (en) | Collecting positioning reference data | |
| CN105578417A (en) | Indoor positioning method for moving person | |
| KR20140014317A (en) | Gps and mems hybrid location-detection architecture | |
| CN104729499A (en) | Bluetooth technology-based method for positioning mobile terminal by indoor robot | |
| CN108445520A (en) | A kind of indoor and outdoor based on high in the clouds builds drawing method, device, electronic equipment and computer program product | |
| KR20190032791A (en) | Real-Time Positioning System and Contents Providing Service System Using Real-Time Positioning System | |
| CN106908054A (en) | A kind of positioning path-finding method and device based on ultra-wideband signal | |
| JP2011525968A (en) | Spatial prediction approximation and radial convolution integral | |
| JP2015219089A (en) | Wireless positioning device and map database for wireless positioning | |
| JP2014038037A (en) | Location information management system and location estimation program | |
| CN105513132A (en) | Real-time map construction system, method and device | |
| CN113238576A (en) | Positioning method for unmanned aerial vehicle and related device | |
| CN109974687A (en) | Co-located method, apparatus and system in a kind of multisensor room based on depth camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |