CN214583310U - Device for testing indoor positioning system by using laser radar - Google Patents
Device for testing indoor positioning system by using laser radar Download PDFInfo
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- CN214583310U CN214583310U CN202022928560.7U CN202022928560U CN214583310U CN 214583310 U CN214583310 U CN 214583310U CN 202022928560 U CN202022928560 U CN 202022928560U CN 214583310 U CN214583310 U CN 214583310U
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Abstract
The utility model discloses an utilize laser radar to carry out device that tests indoor positioning system, the device includes: the system comprises a test controller and a plurality of laser radars; the system comprises a plurality of laser radars, a plurality of detection units and a plurality of control units, wherein the plurality of laser radars are deployed in a test field, and each detected label in the field can be covered by three or more than three laser radars; a plurality of lidar for: acquiring real position information of a tested tag on a tested indoor positioning system deployed in a test field; the test controller is to: and obtaining real position information from the plurality of laser radars, obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system, comparing the real position information with the measurement position information, and determining the related performance of the indoor positioning system according to the comparison result. The utility model discloses can directly obtain in real time by the true positional information of survey label, need not to measure the good position point execution location test before using among the actual work, improve the test adaptability in place by a wide margin.
Description
Technical Field
The utility model relates to an indoor location technical field especially relates to utilize laser radar to carry out the device tested to indoor positioning system.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
With the continuous development of the application of mobile communication in various industries, the importance of the device location information is increasingly embodied. In the case where satellite-based positioning technology cannot be used indoors, indoor positioning using radio technology is becoming a trend. From museums, shops to warehouse logistics, the requirement of various industries on indoor positioning is continuously improved, and related technologies, standards, algorithms, products and systems are continuously emerged. Different positioning systems (e.g., UWB, BLE, WiFi, etc.), different positioning principles (e.g., ToF, AoA, AoD, etc.), differ in cost, system complexity, accuracy, speed, etc. In order to objectively evaluate index performance of different products and systems in indoor positioning in each dimension, a corresponding test system and a corresponding test method are needed.
At present, the main test mode for the indoor positioning system is to preset a plurality of characteristic test points in a test environment, and place a label (object to be positioned) of the system to be tested at a preset test position for testing. And the test system reads the position of the label from the tested system and compares the position with the preset coordinate so as to obtain information such as positioning precision and the like. The method has the following disadvantages: (1) the method belongs to off-line measurement, the testing speed is low, and the testing ergodicity is poor: for each preset test point, the absolute position of the test point needs to be manually measured as a standard. The test mode is relatively fixed, and the ergodicity of the test process is poor. (2) Difficult response to motion conditions: because only the position information of the fixed point cannot acquire the position of the moving tag in real time, the prior art is not suitable for dynamic test items, such as tests aiming at the positioning capability of a moving target, positioning delay and the like.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an utilize laser radar to carry out the device tested to indoor positioning system for improve the test adaptability in place, the device includes: the system comprises a test controller and a plurality of laser radars; the method comprises the following steps that a plurality of laser radars are deployed in a test field, and each test point in the field can be covered by three or more laser radars;
the plurality of lidar for: acquiring real position information of a tested tag on a tested indoor positioning system deployed in a test field;
the test controller is configured to: obtaining the real position information from the plurality of laser radars, obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system, and comparing based on the real position information and the measurement position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system.
In one embodiment, the test controller comprises a data reading device and a comparator;
the data reading device is used for: obtaining the real position information from the plurality of laser radars, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system;
the comparator is configured to: comparing the true location information and the measured location information.
In one embodiment, the tested tag of the tested indoor positioning system is deployed at a fixed position in the test field, or the tested tag of the tested indoor positioning system moves in the test field.
In one embodiment, the measurement position information is measurement position coordinates of the measured tag;
the test controller also comprises a coordinate operation device;
wherein the coordinate operation device is configured to: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the comparator is specifically configured to: and comparing the measured position coordinates of the detected label with the real position coordinates of the detected label, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning errors.
In one embodiment, the test controller further comprises a timing device;
the timing device is used for: setting a time interval;
the data reading device is specifically configured to: obtaining the real position information from the plurality of laser radars at fixed time intervals, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system at fixed time intervals;
the comparator is specifically configured to: and comparing the real position information with the measured position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning error and time delay.
In one embodiment, the measurement position information is a measurement movement track of the measured tag;
when the tested label of the tested indoor positioning system moves in the test field, the test controller further comprises a coordinate operation device and a drawing device;
the coordinate operation means is for: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the drawing device is used for: drawing a real moving track of the detected label according to the real position coordinates;
the comparator is specifically configured to: the measured movement trajectory is compared with the real movement trajectory, and the comparison result is used to determine the relevant performance of the indoor positioning system.
In the embodiment of the utility model, a plurality of laser radars acquire the real position information of the tested tag on the tested indoor positioning system deployed in the test field; the test controller obtains the real position information from the plurality of laser radars, obtains the measured position information of the corresponding measured label from the measured indoor positioning system, and compares the real position information with the measured position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system; wherein, a plurality of laser radar deploys in the test place, guarantees every surveyed label homoenergetic in the place and can be covered by three or three above laser radar, predetermines the test point among the prior art and place the technical scheme who is surveyed the label and compare, the utility model discloses any position that is surveyed the label and can be in the test place all can learn its distance from at least three laser radar via laser radar system to obtain its concrete position in the test place, can directly obtain in the test in real time by the true positional information of survey label, need not to use in the actual work before the good position point of measurement carries out the location test, this will improve the test adaptability in place by a wide margin.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
fig. 1 is a schematic layout diagram of a device for testing an indoor positioning system by using a laser radar in an embodiment of the present invention in a field;
fig. 2 is a schematic diagram of an apparatus for testing an indoor positioning system (including an indoor positioning system to be tested) by using a laser radar in an embodiment of the present invention in a field;
fig. 3 is the embodiment of the utility model provides an in utilize laser radar to carry out the physical connection and the data flow diagram of the device that tests indoor positioning system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Fig. 1 is the embodiment of the utility model provides an utilize laser radar to carry out the device that tests indoor positioning system in the arrangement schematic diagram in the place, as shown in fig. 1, the device includes: a test controller (not shown in FIG. 1) and a plurality of laser radars;
the plurality of lidar for: acquiring real position information of a tested tag on a tested indoor positioning system deployed in a test field;
the test controller is configured to: obtaining the real position information from the plurality of laser radars, obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system, and comparing based on the real position information and the measurement position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system.
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is as follows: the method comprises the steps of transmitting a detection signal (laser beam) to a target, comparing a received signal (target echo) reflected from the target with the transmitted signal, and obtaining relevant information of the target after proper processing, such as parameters of target distance, direction, height, speed, posture, even shape and the like, so as to detect, track and identify the target.
In the embodiment of the present invention, the test controller is a device capable of reading the respective positioning results of the laser radar and the indoor positioning system to be tested, and the device may include a data reading device and a comparator;
wherein the data reading device is configured to: obtaining the real position information from the plurality of laser radars, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system;
the comparator is used for: comparing the real position information and the measured position information may be a comparator.
During the use, laser radar deploys in the test place, guarantees that every test point homoenergetic in the place can be covered by three or more than the laser radar. The laser radar is connected on the test controller, and the test controller can acquire the distance information of the laser radar in each direction in the field of view. Therefore, the distance from the detected label to at least three laser radars can be obtained through the laser radars at any position of the detected label in the test field, and the specific position of the detected label in the test field is obtained through calculation.
In the test aiming at the indoor positioning system to be tested, the position of the label to be tested is obtained through the laser radar and the indoor positioning system to be tested, and the information such as the precision, the positioning time and the like of the indoor positioning system to be tested can be obtained through comparison.
Specifically, taking the test of an indoor (wireless) positioning system in a square unobstructed room by using a test device with four laser radars A, B, C, D as an example, the deployment of the laser radars can be as shown in fig. 1. In theory, the spatial position of the indoor positioning system to be measured can be reversely calculated as long as there is distance information from the measured tag to a plurality of fixed points, so the deployment position of the lidar is not fixed, and this is only an example.
Taking an indoor positioning system for positioning the tag a to be tested by using three positioning devices A, B, C (i.e. indoor positioning systems to be tested) as an example, after the indoor positioning system to be tested is added, the arrangement of the test site is shown in fig. 2, and the test controller is not shown.
Taking the above test and tested system configuration as an example, in an actual test, the connection and data transmission modes of the system are shown in fig. 3, where the tested system positioning device A, B, C and the laser radar A, B, C, D are respectively connected to the test controller, the test controller obtains the positioning result of the tested system from the tested system positioning device A, B, C, and obtains the distance from the positioned tag to each laser radar from the laser radar A, B, C, D.
The embodiment of the utility model provides an in, the indoor positioning system of quilt survey deploys the fixed position in the test field.
For the existing "(2) difficult response to motion state in the prior art: because only the positional information of fixed point, the unable position that acquires the motion label in real time "this technical problem, the utility model provides a surveyed the label of being surveyed indoor location can remove in the test place.
The arrangement of the positioning base stations in the indoor positioning system to be tested is based on the arrangement that the system can reach the optimal index, and the placement position/moving track of the label to be tested (positioning) is based on the requirement of actual test and/or the test specification.
In an embodiment of the present invention, the measurement position information is a measurement position coordinate of the tag to be measured;
the test controller also comprises a coordinate operation device;
wherein the coordinate operation device is configured to: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the comparator is specifically configured to: and comparing the measured position coordinates of the detected label with the real position coordinates of the detected label, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning errors.
The function of the coordinate operation device can be realized by any method of calculating coordinates according to distance in the prior art.
In an embodiment of the present invention, the test controller further includes a timing device;
the timing device is used for: setting a time interval;
the data reading device is specifically configured to: obtaining the real position information from the plurality of laser radars at fixed time intervals, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system at fixed time intervals;
the comparator is specifically configured to: and comparing the real position information with the measured position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning error and time delay.
In the embodiment of the present invention, the measurement position information is a measurement movement track of the tag to be measured;
when the tested label of the tested indoor positioning system moves in the test field, the test controller further comprises a coordinate operation device and a drawing device;
the coordinate operation means is for: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the drawing device is used for: drawing a real moving track of the detected label according to the real position coordinates;
the comparator is specifically configured to: the measured movement trajectory is compared with the real movement trajectory, and the comparison result is used to determine the relevant performance of the indoor positioning system.
The function of the coordinate operation device can be realized by any method of calculating coordinates according to distance in the prior art. The function of the drawing device can be realized by any drawing tool in the prior art.
The embodiment of the utility model provides an in, compare with the technical scheme who predetermines the test point and place the label that is surveyed among the prior art, (1) the utility model discloses any position that the label that is surveyed can be in the test place, all can learn its distance apart from at least three laser radar via laser radar system to calculate and obtain its concrete position in the test place, can directly obtain in real time in the test by the true positional information of label that is surveyed, need not to use in the actual work before the good position point execution location test of measurement, this test adaptability in place is improved to a great extent. (2) The moving target can be accurately tested: the traditional indoor positioning test cannot detect a moving target in real time, so that the test capability of the traditional indoor positioning test for a moving scene is obviously deficient. By using the technical scheme, the movement position can be restored in real time under the condition that the detected label moves, the track can be drawn and the comparison can be carried out with the measured value, so that the test of a plurality of test items of the movement positioning performance of the system can be realized.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An apparatus for testing an indoor positioning system using a lidar, comprising: the system comprises a test controller and a plurality of laser radars; the method comprises the following steps that a plurality of laser radars are deployed in a test field, and each test point in the field can be covered by three or more laser radars;
the plurality of lidar for: acquiring real position information of a tested tag on a tested indoor positioning system deployed in a test field;
the test controller is configured to: obtaining the real position information from the plurality of laser radars, obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system, and comparing based on the real position information and the measurement position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system.
2. The apparatus for testing an indoor positioning system using lidar according to claim 1, wherein the test controller comprises a data reading device and a comparator;
the data reading device is used for: obtaining the real position information from the plurality of laser radars, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system;
the comparator is configured to: comparing the true location information and the measured location information.
3. The apparatus for testing an indoor positioning system using lidar according to claim 2, wherein the tag of the indoor positioning system under test is deployed at a fixed position in the test field, or wherein the tag of the indoor positioning system under test is moved in the test field.
4. The apparatus for testing an indoor positioning system using lidar according to claim 2, wherein the measurement position information is a measurement position coordinate of a tag under test;
the test controller also comprises a coordinate operation device;
wherein the coordinate operation device is configured to: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the comparator is specifically configured to: and comparing the measured position coordinates of the detected label with the real position coordinates of the detected label, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning errors.
5. The apparatus for testing an indoor positioning system using lidar of claim 2, wherein the test controller further comprises a timing device;
the timing device is used for: setting a time interval;
the data reading device is specifically configured to: obtaining the real position information from the plurality of laser radars at fixed time intervals, and obtaining the measurement position information of the corresponding measured label from the measured indoor positioning system at fixed time intervals;
the comparator is specifically configured to: and comparing the real position information with the measured position information, wherein the comparison result is used for determining the relevant performance of the indoor positioning system, and the relevant performance comprises positioning error and time delay.
6. The apparatus for testing an indoor positioning system using lidar according to claim 3, wherein the measurement position information is a measurement movement track of a tag under test;
when the tested label of the tested indoor positioning system moves in the test field, the test controller further comprises a coordinate operation device and a drawing device;
the coordinate operation means is for: determining the real position coordinates of the detected label on the detected indoor positioning system based on the real position information;
the drawing device is used for: drawing a real moving track of the detected label according to the real position coordinates;
the comparator is specifically configured to: the measured movement trajectory is compared with the real movement trajectory, and the comparison result is used to determine the relevant performance of the indoor positioning system.
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| CN202022928560.7U CN214583310U (en) | 2020-12-09 | 2020-12-09 | Device for testing indoor positioning system by using laser radar |
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