CN113573405B - Method and device for dynamically adjusting base station synchronization relationship based on UWB positioning system - Google Patents
Method and device for dynamically adjusting base station synchronization relationship based on UWB positioning system Download PDFInfo
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Abstract
The invention provides a method for dynamically adjusting a base station synchronization relation based on a UWB positioning system, belonging to the field of indoor and outdoor positioning. The method comprises the steps of determining a distance range for establishing a base station synchronization relationship before a base station of a UWB positioning system is deployed and initialized; after starting, collecting historical synchronous data between base stations within a distance range and within a preset time period, establishing a synchronous relation data table between the synchronous base stations and the distance range, carrying out normalization processing on the data in the data table, dividing the data into a training set and a test set, and dividing the data into characteristic value data and target value data; constructing a base station timestamp model, training the model by adopting a training set, and testing and outputting a predicted target value by adopting a test set; and comparing the predicted target value with target value data in the test set to obtain a residual value, and dynamically adjusting the base station synchronization relationship through the residual and the initial synchronization relationship. The invention does not need manual participation, reduces the debugging, operation and maintenance cost and improves the system stability and the positioning precision.
Description
Technical Field
The invention belongs to the field of indoor and outdoor positioning, and particularly relates to a method and a device for dynamically adjusting a base station synchronization relation based on a UWB positioning system.
Background
With the development of communication technology, people's aspects of work, life and study such as clothes, eating and housing are increasingly unable to leave the network. Each individual is incorporated into the network and the physical location in the network can be determined by location technology. Satellites with various systems on the earth orbit can provide positioning services, such as a Global Positioning System (GPS) and a Beidou satellite positioning system (BDS). Based on the satellite positioning system, the positioning system is combined with a civil network to construct, and accurate positioning of any person can be achieved.
Currently, TDOA location is a wireless location technique that uses time differences within a communication system to perform location, and calculates the location of a signal source by performing coordinate calculation using measured time differences of communication signals. Among the signals used, an Ultra Wide Band (UWB) signal based on wireless carrier communication is a common communication signal mode, and the UWB positioning system constructed is applied to various indoor and outdoor positioning applications. The UWB positioning system needs to deploy base stations in a positioning service region range, wherein the base stations comprise synchronous base stations and positioning base stations, each positioning base station is assigned with the synchronous base station, and the positioning base stations calculate signal source coordinates by receiving data of the synchronous base stations and positioning data received by the positioning base stations. Among the deployed base stations, which base stations are used as synchronous base stations of the positioning base station establish a mutual synchronous relation, which is an important index for determining the positioning accuracy.
In the prior art, the synchronous relation among base stations is manually specified in a UWB positioning system usually according to the fact that the positioning area environment, the visual relation among the base stations and the like are known when the base stations are deployed, and due to the fact that the number of the base stations is large, the operation is time-consuming and labor-consuming, errors are prone to occurring during operation and maintenance, positioning accuracy is unstable, and positioning accuracy is not high.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, the present invention aims to provide a method and an apparatus for dynamically adjusting the synchronization relationship of a base station based on a UWB positioning system, so as to automatically and dynamically adjust the synchronization relationship of the base station, thereby saving labor and time costs.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for dynamically adjusting a synchronization relationship between base stations based on a UWB positioning system, where the method for dynamically adjusting a synchronization relationship between base stations includes the following steps:
step S1, after the deployment of the UWB positioning system base station is finished and before the initialization is started, determining the distance range for establishing the base station synchronization relationship, and starting the UWB positioning system;
step S2, collecting historical synchronization data between base stations within the distance range and within a preset time period, and establishing a synchronization relation data table between the synchronization base stations and each base station within the distance range;
step S3, carrying out normalization processing on the data in the synchronous relation data table, and dividing the data into a training set and a test set;
step S4, dividing the data in the training set into characteristic value data and target value data; meanwhile, a linear regression base station timestamp model is constructed based on a base station synchronous relation, the training set is adopted, target value data in the training set is used as a model target value, characteristic value data in the training set is used as a model characteristic value, the base station timestamp model is trained, and model parameters are determined;
step S5, dividing the test set data into characteristic value data and target value data by adopting the same data classification mode as the training set, inputting the characteristic value data of the test set into the base station time stamp model after the training is finished, and outputting a predicted target value;
step S6, comparing the predicted target value with the target value data in the test set to obtain a residual value;
step S7, when the residual value is equal to or less than the set threshold value, the process proceeds to step S8; when the residual error value is greater than the set threshold value, the process proceeds to step S11;
step S8, if the base station corresponding to the current data is in synchronous relation, step S9 is proceeded; if the base station corresponding to the current data is in the asynchronous relation, the step S10 is executed;
step S9, keeping the synchronization relationship of the current data corresponding to the base station, and returning to step S2;
step S10, changing the base station corresponding to the current data into synchronous relation, and returning to step S2;
and step S11, removing the synchronization relation of the base station corresponding to the current data, and returning to the step S2.
As a preferred embodiment of the present invention, the synchronization relationship data table includes a synchronization packet number Id, an inter-base station distance L, a synchronization base station timestamp Tm, a positioning base station timestamp Ts, and a network delay Td.
As a preferred embodiment of the present invention, the target value of the base station timestamp model is a positioning base station timestamp Ts, and the characteristic value includes: the synchronous packet sequence number Id, the base station distance L, the synchronous base station time stamp Tm and the network delay Td.
As a preferred embodiment of the present invention, the target value of the base station timestamp model is a synchronous base station timestamp Tm, and the characteristic values include: the synchronous packet sequence number Id, the base station distance L, the positioning base station time stamp Ts and the network delay Td.
As a preferred embodiment of the present invention, 80% of the data in the synchronization relationship data table is used as a training set, and 20% of the data in the synchronization relationship data table is used as a test set.
As a preferred embodiment of the present invention, the step S9 further includes: the current base station data with synchronous relation is applied to carry out positioning coordinate calculation;
the step S10 further includes: the changed base station data with the synchronous relation is applied to carry out positioning coordinate calculation;
the step S11 further includes: and (4) performing positioning coordinate calculation by using the base station data excluding the current data.
In a second aspect, an embodiment of the present invention further provides an apparatus for dynamically adjusting a synchronization relationship between base stations based on a UWB positioning system, where the apparatus includes: the device comprises a distance range determining module, a data acquisition module, a synchronous relation data table generating module, a data preprocessing module, a base station timestamp model building module, a model training module, a model testing module, a residual error value comparing module, a first adjusting module, a second adjusting module and a third adjusting module; wherein the content of the first and second substances,
the distance range determining module is connected with the UWB positioning system and is used for determining a distance range for establishing a base station synchronization relationship before the deployment of the UWB positioning system base station is completed and the initialization is started;
the data acquisition module is connected with the UWB positioning system and the distance range determination module and is used for collecting historical synchronization data between base stations in the UWB positioning system within the distance range and within a predetermined time period according to a predetermined period and sending the data to the synchronization relation data table generation module;
the synchronous relation data table generating module is used for establishing a synchronous relation data table between a synchronous base station and each base station in a distance range according to historical synchronous data among the base stations and sending the synchronous relation data table to the data preprocessing module;
the data preprocessing module is used for carrying out normalization processing on data in the synchronous relation data table, dividing the data into a training set and a testing set, and dividing the data in the training set and the testing set into target value data and characteristic value data respectively in the same mode;
the base station timestamp model building module is used for building a linear regression base station timestamp model based on a base station synchronization relationship;
the model training module is used for reading the model constructed by the base station timestamp model construction module and the training set target value data and the characteristic value data generated by the data preprocessing module;
the model testing module is used for reading the base station timestamp model trained by the model training module and the test set characteristic value data generated by the data preprocessing module;
the residual value comparison module is used for reading the predicted target value output by the model test module and the test set target value data generated by the data preprocessing module and comparing the predicted target value and the test set target value data; when the residual error value is less than or equal to the set threshold value and the base station corresponding to the current data is in a synchronous relation, starting a first adjusting module; when the residual error value is less than or equal to the set threshold value and the base station corresponding to the current data is in an asynchronous relation, starting a second adjusting module; when the residual error value is larger than the set threshold value, starting a third adjusting module;
the first adjusting module is used for communicating with the UWB positioning system after being started and keeping the synchronization relation of the base station corresponding to the current data;
the second adjusting module is used for communicating with the UWB positioning system after being started and changing the base station corresponding to the current data into a synchronous relation;
and the third adjusting module is used for communicating with the UWB positioning system after being started, and eliminating the synchronization relation of the base station corresponding to the current data.
In a preferred embodiment of the present invention, the predetermined period of the data acquisition module is based on one adjustment of the UWB positioning system.
As a preferred embodiment of the present invention, the first adjusting module is further configured to notify the base station to apply base station data currently having a synchronization relationship to perform positioning coordinate calculation;
the second adjusting module is also used for informing the base station of the base station data with the synchronous relation after the application change to carry out positioning coordinate calculation;
and the third adjusting module is also used for informing the base station to use the base station data without the current data for positioning coordinate calculation.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the method for dynamically adjusting the synchronization relationship of the base station based on the UWB positioning system does not need human intervention, dynamically adjusts the synchronization relationship of the base station by periodically and automatically establishing the synchronization relationship or automatically adjusting and removing the unstable synchronization relationship, greatly reduces the debugging, operation and maintenance cost, and improves the stability and positioning accuracy of the system; especially in large projects, the number of base stations is large, the synchronization relationship between the base stations configured manually is avoided, labor and time costs are saved, and the operation and maintenance efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for dynamically adjusting a synchronization relationship between base stations based on a UWB positioning system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for dynamically adjusting synchronization relationship between base stations based on a UWB positioning system according to an embodiment of the present invention.
Detailed Description
After finding the above problems, the inventors of the present application have conducted a detailed study on the synchronization process of the base station of the existing UWB positioning system. Research shows that in the implementation process of a TDOA-based UWB positioning system project, after base station deployment is completed, synchronous positioning base stations are required to be respectively appointed to each synchronous base station in a positioning system, so that a mutual synchronization relationship is established; the positioning base stations for specifying the synchronization of the positioning base stations need to be manually operated, the number of the base stations in one positioning system is very large, and the positioning base stations for specifying the synchronization base stations are manually operated, so that the operation is complex, the workload is huge, errors are easy to occur in the operation and the operation, and the positioning experience of a user is reduced.
The inventor finds that a synchronous base station in the base stations is used for periodically sending UWB signals, recording sending time and transmitting the UWB signals to a positioning system, the positioning base station is used for receiving the UWB signals periodically sent by the synchronous base station and recording receiving time and sending the UWB signals to the positioning system, positioning tag data of the synchronous base station and the positioning tag data have certain association and certain regularity statistically, and when the UWB signals do not accord with the receiving time and are used as the synchronous base station, the data can change to a certain extent. The system can dynamically adjust the synchronous base station according to the association between the data by receiving the data of the synchronous base station and the positioning base station and the data of the positioning label, maintaining the synchronous relation between the base stations, calculating the coordinate of the label and completing the positioning. Although the current manual adjustment also refers to the above data for adjustment between base stations, the manual adjustment still remains the above problem.
It should be noted that the above prior art solutions have defects which are the results of practical and careful study by the inventors, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventors to the present invention in the course of the present invention.
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, the terms "first," "second," "third," "fourth," and the like are used merely to distinguish one description from another, and are not to be construed as merely or implying relative importance.
After the deep analysis, the application provides a method and a device for dynamically adjusting the synchronization relationship of base stations based on a UWB positioning system, so that the base stations in the positioning system are automatically established and dynamically adjusted to be a stable and reliable synchronization relationship in real time.
As shown in fig. 1, the method for dynamically adjusting the synchronization relationship of the base station based on the UWB positioning system includes the following steps:
and step S1, determining the distance range for establishing the base station synchronization relationship before the UWB positioning system base station is deployed and initialized and started, and starting the UWB positioning system.
In this step, based on the deployed base stations, the coordinates of the base stations can be known, the distance between the base stations can also be calculated, and the distance range for establishing the synchronization relationship between the base stations is set, so that the base stations within a certain distance range can establish the synchronization relationship, and the base stations without establishing the synchronization relationship within the distance range.
Step S2, collecting historical synchronization data between base stations within the distance range and within a predetermined time period, and establishing a synchronization relationship data table between the synchronized base station and each base station within the distance range.
In this step, the synchronization relationship data table includes a synchronization packet sequence number Id, an inter-base station distance L, a synchronization base station timestamp Tm, a positioning base station timestamp Ts, a network delay Td, and the like. The historical synchronization data is generally based on the current time, and a time period which can correspondingly affect the positioning of the current time is adopted. This time period may be set based on statistical data results or may be set empirically.
And step S3, carrying out normalization processing on the data in the synchronous relation data table, and dividing the data into a training set and a testing set.
In this step, after the normalization process, the data in the synchronization relationship data table are in the same range, for example, all belong to (0, 1). Preferably, in this step, 80% of the data in the synchronization relationship data table is used as a training set, and 20% of the data in the synchronization relationship data table is used as a test set.
Step S4, dividing the data in the training set into characteristic value data and target value data; meanwhile, a linear regression base station timestamp model is constructed based on the base station synchronous relation, the training set is adopted, target value data in the training set is used as a model target value, characteristic value data in the training set is used as a model characteristic value, the base station timestamp model is trained, and model parameters are determined.
Preferably, the target value of the model is Ts, and the characteristic values include: the synchronous packet sequence number Id, the base station distance L, the synchronous base station time stamp Tm and the network delay Td.
And step S5, dividing the test set data into characteristic value data and target value data by adopting the same data classification mode as the training set, inputting the characteristic value data of the test set into the trained base station time stamp model, and outputting a predicted target value.
In this step, the classification of the target value data and the characteristic value data, the training set and the test set adopt the same classification mode. If the positioning base station time stamp Ts is used as the target value data, and the synchronization packet number Id, the base station distance L, the synchronization base station time stamp Tm, and the network delay Td are used as the characteristic value data, the model target value is Ts, and the characteristic values are the synchronization packet number Id, the base station distance L, the synchronization base station time stamp Tm, and the network delay Td. According to the calculation requirement of the positioning coordinates and the construction requirement of the positioning model, other classification modes can be adopted, and the output prediction target value is Ts'. For example, when the synchronization base station time stamp Tm is used as target value data, the synchronization packet number Id, the base station distance L, the positioning base station time stamp Ts, and the network delay Td are used as characteristic value data, the model target value is Tm, the characteristic values are the synchronization packet number Id, the base station distance L, the positioning base station time stamp Ts, and the network delay Td, and the output prediction target value is Tm'.
Step S6, the predicted target value is compared with the target value data in the test set to obtain a residual value.
Step S7, when the residual value is equal to or less than the set threshold value, the process proceeds to step S8; when the residual error value is greater than the set threshold value, the process proceeds to step S11;
step S8, if the base station corresponding to the current data is in synchronous relation, step S9 is proceeded; if the base station corresponding to the current data is in the asynchronous relation, the step S10 is executed;
step S9, keeping the synchronous relation of the current data corresponding to the base station, using the current base station data with synchronous relation to resolve the positioning coordinate, and returning to step S2;
step S10, changing the base station corresponding to the current data into synchronous relation, applying the changed base station data with synchronous relation to perform positioning coordinate calculation, and returning to step S2;
and step S11, removing the synchronous relation of the base station corresponding to the current data, applying the base station data from which the current data are removed to perform positioning coordinate calculation, and returning to the step S2.
In the processing of the residual values in steps S7 to S11, if the residual value is less than or equal to the set threshold, it is determined that the synchronization relationship between the synchronization base station and the positioning base station is stable, and the synchronization relationship in the next cycle is continuously used for resolving the tag coordinates; or when the current base station is in the asynchronous relation, the synchronous relation condition is shown, and the synchronous relation in the next period can be used for resolving the label coordinate; if the residual value is larger than the set threshold value, the synchronous relation between the synchronous base station and the positioning base station is unstable, the relation between the synchronous base station and the positioning base station is eliminated, and the synchronous relation in the next period is not used for solving the label coordinate any more.
According to the technical scheme, the method for dynamically adjusting the synchronization relationship of the base station based on the UWB positioning system does not need human intervention, and dynamically adjusts the synchronization relationship of the base station by periodically and automatically establishing the synchronization relationship or automatically adjusting to remove the unstable synchronization relationship, so that the debugging, operation and maintenance cost is greatly reduced, and the stability and the positioning precision of the system are improved; especially in large projects, the number of base stations is large, the synchronization relationship between the base stations configured manually is avoided, labor and time costs are saved, and the operation and maintenance efficiency is improved.
As shown in fig. 2, an embodiment of the present invention further provides an apparatus for dynamically adjusting a synchronization relationship between base stations based on a UWB positioning system, where the apparatus includes: the device comprises a distance range determining module 10, a data acquisition module 20, a synchronization relationship data table generating module 30, a data preprocessing module 40, a base station timestamp model building module 50, a model training module 60, a model testing module 70, a residual value comparing module 80, a first adjusting module 81, a second adjusting module 82 and a third adjusting module 83.
The distance range determining module 10 is connected to the UWB positioning system, and configured to determine a distance range for establishing a base station synchronization relationship before the UWB positioning system is deployed and initialized;
the data acquisition module 20 is connected to the UWB positioning system and the distance range determination module, and configured to collect historical synchronization data between base stations in the UWB positioning system within the distance range and within a predetermined time period according to a predetermined period, and send the data to the synchronization relationship data table generation module 30; preferably, the predetermined period is based on one-time adjustment of the UWB positioning system, and the period can also be specified by the system;
the synchronization relationship data table generation module 30 is configured to establish a synchronization relationship data table between a synchronization base station and each base station within a distance range according to historical synchronization data between the base stations, and send the synchronization relationship data table to the data preprocessing module 40;
the data preprocessing module 40 is configured to perform normalization processing on data in the synchronous relationship data table, divide the data into a training set and a test set, and divide the data in the training set and the test set into target value data and characteristic value data in the same manner;
the base station timestamp model building module 50 is configured to build a linear regression base station timestamp model based on a base station synchronization relationship;
the model training module 60 is configured to read the model constructed by the base station timestamp model 50 construction module and the training set target value data and feature value data generated by the data preprocessing module 40;
the model testing module 70 is configured to read the base station timestamp model trained by the model training module 60 and the test set characteristic value data generated by the data preprocessing module 40;
the residual value comparison module 80 is configured to read the predicted target value output by the model test module 70 and the test set target value data generated by the data preprocessing module 40, and compare the predicted target value and the test set target value; when the residual value is less than or equal to the set threshold and the base station corresponding to the current data is in a synchronization relationship, starting the first adjusting module 81; when the residual error value is less than or equal to the set threshold value and the base station corresponding to the current data is in an asynchronous relation, starting a second adjusting module 82; when the residual error value is greater than the set threshold, starting a third adjusting module 83;
the first adjusting module 81 is used for communicating with the UWB positioning system after being started, retaining the synchronization relationship of the current data corresponding to the base station, and informing the base station to apply the current base station data having the synchronization relationship to perform positioning coordinate calculation;
the second adjusting module 82 is used for communicating with the UWB positioning system after being started, changing the base station corresponding to the current data into a synchronous relationship, and informing the base station to apply the changed base station data with the synchronous relationship to perform positioning coordinate calculation;
the third adjusting module 83 is configured to communicate with the UWB positioning system after being started, remove the synchronization relationship of the base station corresponding to the current data, and notify the base station to perform positioning coordinate calculation using the base station data from which the current data is removed.
In the apparatus for dynamically adjusting synchronization relationship of a base station based on a UWB positioning system according to the embodiments of the present invention, each module may be implemented by a microprocessor or a single chip, and includes a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other programmable logic devices, a discrete gate, a transistor logic device, a discrete hardware component, and the like. The data acquisition module and other modules may also include memory as necessary. The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor. The memory may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part.
It should be noted that the apparatus for dynamically adjusting synchronization relationship of base stations based on UWB positioning system provided in this embodiment corresponds to the method for dynamically adjusting synchronization relationship of base stations based on UWB positioning system provided in this embodiment of the present invention, and the above description of the method (apparatus) applies to the apparatus (method) correspondingly.
According to the technical scheme, the device for dynamically adjusting the synchronization relationship of the base stations based on the UWB positioning system provided by the embodiment of the invention has the advantages that based on the UWB positioning system, under the coordination of the distance range determining module, the data acquisition module, the synchronization relationship data table generating module, the data preprocessing module, the base station timestamp model building module, the model training module, the model testing module, the residual error value comparing module, the first adjusting module, the second adjusting module and the third adjusting module, no manual intervention is needed, the synchronization relationship among the base stations in the unstable UWB positioning system is periodically and automatically established or removed through automatic adjustment, the dynamic adjustment is carried out on the synchronization relationship of the base stations, the debugging, operation and maintenance cost is greatly reduced, and the system stability and the positioning precision are improved; especially in large projects, the number of base stations is large, the synchronization relationship between the base stations configured manually is avoided, labor and time costs are saved, and the operation and maintenance efficiency is improved.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.
Claims (9)
1. A method for dynamically adjusting the synchronization relationship of base stations based on a UWB positioning system is characterized in that the method for dynamically adjusting the synchronization relationship of the base stations comprises the following steps:
step S1, after the deployment of the UWB positioning system base station is finished and before the initialization is started, determining the distance range for establishing the base station synchronization relationship, and starting the UWB positioning system;
step S2, collecting historical synchronization data between base stations within the distance range and within a preset time period, and establishing a synchronization relation data table between the synchronization base stations and each base station within the distance range;
step S3, carrying out normalization processing on the data in the synchronous relation data table, and dividing the data into a training set and a test set;
step S4, dividing the data in the training set into characteristic value data and target value data; meanwhile, a linear regression base station timestamp model is constructed based on a base station synchronous relation, the training set is adopted, target value data in the training set is used as a model target value, characteristic value data in the training set is used as a model characteristic value, the base station timestamp model is trained, and model parameters are determined;
step S5, dividing the test set data into characteristic value data and target value data by adopting the same data classification mode as the training set, inputting the characteristic value data of the test set into the base station time stamp model after the training is finished, and outputting a predicted target value;
step S6, comparing the predicted target value with the target value data in the test set to obtain a residual value;
step S7, when the residual value is equal to or less than the set threshold value, the process proceeds to step S8; when the residual error value is greater than the set threshold value, the process proceeds to step S11;
step S8, if the base station corresponding to the current data is in synchronous relation, step S9 is proceeded; if the base station corresponding to the current data is in the asynchronous relation, the step S10 is executed;
step S9, keeping the synchronization relationship of the current data corresponding to the base station, and returning to step S2;
step S10, changing the base station corresponding to the current data into synchronous relation, and returning to step S2;
and step S11, removing the synchronization relation of the base station corresponding to the current data, and returning to the step S2.
2. The method of claim 1, wherein the synchronization relationship data table comprises synchronization packet sequence number Id, inter-base station distance L, synchronization base station time stamp Tm, positioning base station time stamp Ts, and network delay Td.
3. The method of claim 2, wherein the target value of the base station timestamp model is a positioning base station timestamp Ts, and the characteristic values comprise: the synchronous packet sequence number Id, the base station distance L, the synchronous base station time stamp Tm and the network delay Td.
4. The method of claim 2, wherein the target value of the base station time stamp model is a synchronous base station time stamp Tm, and the characteristic values comprise: the synchronous packet sequence number Id, the base station distance L, the positioning base station time stamp Ts and the network delay Td.
5. The method of claim 1, wherein 80% of data in the synchronization relationship data table is used as a training set, and 20% of data in the synchronization relationship data table is used as a testing set.
6. The method of dynamically adjusting synchronization relationships between base stations as set forth in claim 1,
the step S9 further includes: the current base station data with synchronous relation is applied to carry out positioning coordinate calculation;
the step S10 further includes: the changed base station data with the synchronous relation is applied to carry out positioning coordinate calculation;
the step S11 further includes: and (4) performing positioning coordinate calculation by using the base station data excluding the current data.
7. An apparatus for dynamically adjusting synchronization relationship between base stations based on UWB positioning system, the apparatus comprising: the device comprises a distance range determining module, a data acquisition module, a synchronous relation data table generating module, a data preprocessing module, a base station timestamp model building module, a model training module, a model testing module, a residual error value comparing module, a first adjusting module, a second adjusting module and a third adjusting module; wherein the content of the first and second substances,
the distance range determining module is connected with the UWB positioning system and is used for determining a distance range for establishing a base station synchronization relationship before the deployment of the UWB positioning system base station is completed and the initialization is started;
the data acquisition module is connected with the UWB positioning system and the distance range determination module and is used for collecting historical synchronization data between base stations in the UWB positioning system within the distance range and within a predetermined time period according to a predetermined period and sending the data to the synchronization relation data table generation module;
the synchronous relation data table generating module is used for establishing a synchronous relation data table between a synchronous base station and each base station in a distance range according to historical synchronous data among the base stations and sending the synchronous relation data table to the data preprocessing module;
the data preprocessing module is used for carrying out normalization processing on data in the synchronous relation data table, dividing the data into a training set and a testing set, and dividing the data in the training set and the testing set into target value data and characteristic value data respectively in the same mode;
the base station timestamp model building module is used for building a linear regression base station timestamp model based on a base station synchronization relationship;
the model training module is used for reading the model constructed by the base station timestamp model construction module and the training set target value data and the characteristic value data generated by the data preprocessing module;
the model testing module is used for reading the base station timestamp model trained by the model training module and the test set characteristic value data generated by the data preprocessing module;
the residual value comparison module is used for reading the predicted target value output by the model test module and the test set target value data generated by the data preprocessing module and comparing the predicted target value and the test set target value data; when the residual error value is less than or equal to the set threshold value and the base station corresponding to the current data is in a synchronous relation, starting a first adjusting module; when the residual error value is less than or equal to the set threshold value and the base station corresponding to the current data is in an asynchronous relation, starting a second adjusting module; when the residual error value is larger than the set threshold value, starting a third adjusting module;
the first adjusting module is used for communicating with the UWB positioning system after being started and keeping the synchronization relation of the base station corresponding to the current data;
the second adjusting module is used for communicating with the UWB positioning system after being started and changing the base station corresponding to the current data into a synchronous relation;
and the third adjusting module is used for communicating with the UWB positioning system after being started, and eliminating the synchronization relation of the base station corresponding to the current data.
8. The apparatus of claim 7, wherein the predetermined period of the data acquisition module is based on one adjustment of the UWB positioning system.
9. The apparatus for dynamically adjusting synchronization relationship of base stations as claimed in claim 7,
the first adjusting module is also used for informing the base station to apply the base station data with the synchronous relation to carry out positioning coordinate calculation;
the second adjusting module is also used for informing the base station of the base station data with the synchronous relation after the application change to carry out positioning coordinate calculation;
and the third adjusting module is also used for informing the base station to use the base station data without the current data for positioning coordinate calculation.
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