WO2019033282A1

WO2019033282A1 - Positioning system and building method therefor

Info

Publication number: WO2019033282A1
Application number: PCT/CN2017/097561
Authority: WO
Inventors: 黄水长; 苏凤宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-08-15
Filing date: 2017-08-15
Publication date: 2019-02-21
Also published as: CN108474859B; CN108474859A

Abstract

A positioning system and a building method therefor. The positioning system comprises: base stations (200) and a movable positioning device (300); there are at least four base stations, and locations of any three base stations (200) among the at least four base stations are non-collinear; each base station (200) can acquire first distance information between this base station (200) and other base stations (200); the positioning device (300) is disposed at least two calibration locations and can acquire second distance information between each calibration location and any three base stations (200); the base stations (200) establish a relative coordinate system and calculate, according to the first distance information between the base stations (200), the second distance information between the calibration locations and any three base stations (200), and absolute coordinates of the calibration locations in a preset fixed coordinate system, transformation parameters between the relative coordinate system and the fixed coordinate system. By acquiring the absolute coordinates of multiple calibration locations of which absolute coordinates are easy to be measured, a building process is simplified, and thus the building time is shortened.

Description

Positioning system and construction method thereof

Technical field

The present invention relates to the field of positioning systems, and in particular, to a positioning system and a method of constructing the same.

Background technique

GPS (Global Positioning System) is the current mainstream positioning technology. It is a navigation system that combines satellite and wireless technologies to provide users with accurate positioning. The user can conveniently obtain the positioning information by using GPS in the area where the satellite signal can be received. However, in an indoor environment, the GPS signal may be poorly received due to occlusion of the building, and thus GPS positioning cannot be performed, and a dedicated indoor positioning system is derived therefrom. An indoor positioning system is a network of devices for wirelessly locating objects or people within a building or in a dense industrial area.

The actual use scenario of the indoor positioning system is complicated. For example, in a robot game, it is necessary to detect the coordinates of the game robot by the base station by setting a plurality of base stations at the game site and measuring the coordinates of each base station in advance. The complexity of the competition venue may cause the coordinates of each base station to be inconvenient to measure or measure, which requires more manpower and time, and cannot meet the requirements of the rapid establishment of the positioning system.

Summary of the invention

The invention provides a positioning system and a construction method thereof.

According to a first aspect of the present invention, a method of constructing a positioning system is provided, the method comprising:

Obtaining relative coordinates of at least two calibration positions in the current coordinate area in the relative coordinate system and absolute coordinates in a preset fixed coordinate system, wherein at least two of the calibration positions are spaced apart;

A transformation parameter between the relative coordinate system and the fixed coordinate system is calculated based on relative coordinates and absolute coordinates of at least two of the calibration positions.

According to a second aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the following steps:

According to a third aspect of the invention, there is provided a positioning system comprising one or more processors operating separately or collectively, the processor being configured to:

Obtaining the relative coordinates of at least two calibration positions in the current region in the relative coordinate system and their presets Absolute coordinates in a fixed coordinate system, wherein at least two of the calibration positions are spaced apart;

According to a fourth aspect of the present invention, a positioning system is provided, comprising: a base station and a locating device that is movably arranged, wherein at least four of the base stations are not collinear with respect to positions of any three of the at least four of the base stations;

Each base station can acquire first distance information between it and other base stations;

The positioning device is disposed at at least two calibration positions, and is capable of acquiring second distance information between each calibration position and any three of the base stations;

The base station establishes a relative coordinate system, and according to the first distance information between the base stations, the second distance information between each calibration position and any three base stations, and the absolute coordinates of each calibration position in a preset fixed coordinate system Calculating a transformation parameter between the relative coordinate system and the fixed coordinate system.

It can be seen from the technical solutions provided by the foregoing embodiments of the present invention that the present invention not only simplifies the erection process of the positioning system, but also simplifies the erection process of the positioning system by acquiring the absolute coordinates of the calibration positions that are easy to measure the absolute coordinates, thereby replacing the absolute coordinates of the existing direct measurement base station. The positioning time of the positioning system is shortened, the efficiency is improved, and the usage scenario of the positioning system is expanded, and the positioning system can be built in a relatively complicated environment.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic view showing the structure of a positioning system in an embodiment of the present invention;

2 is a flow chart showing a method of constructing a positioning system in an embodiment of the present invention;

3 is a flow chart showing a method of constructing a positioning system in another embodiment of the present invention;

4 is a structural block diagram of a base station in an embodiment of the present invention;

Figure 5 is a perspective view of a base station in an embodiment of the present invention;

6 is a perspective view of a base station in another direction in an embodiment of the present invention;

7 is a structural block diagram of a positioning device in an embodiment of the present invention;

Figure 8 is a perspective view of a positioning apparatus in accordance with an embodiment of the present invention.

Reference mark:

Xyz: relative coordinate system; XYZ: fixed coordinate system;

10: a first specific location; 11: a second specific location; 13: a third specific location; 14: a fourth specific location;

21: first calibration position; 22: second calibration position;

200: base station; 201: first processor; 202: first indicator light; 203: second indicator light; 204: first USB interface;

300: positioning device; 301: second processor; 302: third indicator light; 303: fourth indicator light; 304: bus interface; 305: second USB interface.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The positioning system and the construction method thereof of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

Referring to FIG. 1 , a positioning system provided by an embodiment of the present invention may include multiple base stations 200 for positioning, and the absolute coordinates of the base station 200 in a fixed coordinate system XYZ need to be obtained in advance, and then the target to be detected is obtained by the base station 200. Absolute coordinates in the fixed coordinate system XYZ. In general, the location of the base station 200 needs to be placed at a particular location to fully cover the current zone for better location through the base station 200. The application scenario of the base station 200 may be complicated. The absolute coordinates of the base station 200 placed at a specified location in the fixed coordinate system XYZ may be inconvenient to measure or measure, which requires time and effort. Therefore, it is necessary to design an easy-to-use way of constructing the positioning system.

The fixed coordinate system XYZ may be a coordinate system determined by the user, for example, a coordinate system determined by using one of the corners of the current region (such as any one of the four corners of the room) as a reference. In a system with a higher configuration, the fixed coordinate system XYZ can be upgraded to a world coordinate system determined by GPS.

Embodiment 1

2 is a flow chart of a method for constructing a positioning system according to an embodiment of the present invention. Referring to Figure 2, the method can include the following steps:

Step S201: acquiring relative coordinates of at least two calibration positions in the current region in the relative coordinate system xyz and absolute coordinates in the preset fixed coordinate system XYZ, wherein at least two of the calibration positions are spaced apart;

In this embodiment, the current area refers to an indoor area to be located, and may be a robot playing field, or may be another indoor area to be located.

The number of calibration positions can be selected as needed, for example, the calibration position can be selected to be two or more. In this embodiment, the calibration position is two, thereby reducing the calculation amount and speeding up the positioning system. when However, in other embodiments, the calibration position may also be selected to be three or more, and the calculation result may be verified by a plurality of calibration positions to ensure the accuracy of the positioning system construction.

The relative coordinate system xyz is established according to a specific location for placing the base station 200 in the current region. Specifically, before the obtaining the relative coordinates of the at least two calibration positions in the current region in the relative coordinate system xyz, the method further includes Obtaining first distance information between each two specific positions in at least four specific positions in the current area, and establishing a relative coordinate system xyz according to at least four of the specific positions. Calculating relative coordinates of at least four of the specific positions under the relative coordinate system xyz according to the first distance information and the relative coordinate system xyz. Wherein any three of the at least four of the specific locations are not collinear. Each calibration position is set at an interval from each specific position, that is, the calibration position does not coincide with any specific position, so that the calculation of the relative coordinates of the calibration position in the relative coordinate system can be quickly realized by the three-side positioning, thereby further improving the positioning system. effectiveness. .

It should be noted that “acquiring first distance information between every two specific positions in at least four specific positions in the current region” and “establishing a relative coordinate system xyz according to at least four of the specific positions” may be performed sequentially. The order can also be executed synchronously.

The specific location may also be set according to the size of the competition venue and the positioning requirements, for example, four or more of the specific locations may be selected. In this embodiment, the specific position is four, and any three of the four specific positions do not coincide, so that the relative position of the four specific positions in the relative coordinate system xyz can be calculated according to the first distance information between the four specific positions. Coordinates, in order to calculate the relative coordinates of the calibration position in the relative coordinate system xyz.

The manner of establishing the relative coordinate system xyz can be set as needed. For example, in one embodiment, the establishing the relative coordinate system xyz according to at least four of the specific locations includes: setting one of the specific locations as the origin, and A vector formed as a specific position of the origin and another specific position is set as one of the coordinate axes, and a relative coordinate system xyz is established. Certainly, the manner of establishing the relative coordinate system xyz is not limited thereto. For example, the middle of any two of the specific positions may be set as the origin, and the arbitrary two specific positions may be set. The line acts as one of the coordinate axes and establishes the relative coordinate system xyz.

Optionally, the relative coordinate system xyz is a three-dimensional Cartesian coordinate system. For example, referring to FIG. 1, setting a first specific position 10 as an origin, a vector formed by the first specific position 10 and the second specific position 11 as an x-axis, establishes a right-hand Cartesian Cartesian coordinate system. Of course, the relative coordinate system xyz is not limited to a three-dimensional rectangular coordinate system, and a rectangular coordinate system having a dimension of two-dimensional or more than three-dimensional or other non-orthogonal coordinate systems may be selected as needed. In this embodiment, the three-dimensional Cartesian coordinate system is selected, and the spatial coordinates of the position to be detected (for example, the game robot) can be obtained, and the positioning is more intuitive.

Step S202: Calculate a transformation parameter between the relative coordinate system xyz and the fixed coordinate system XYZ based on relative coordinates and absolute coordinates of at least two of the calibration positions.

After performing step S201 and step S202, obtaining the relative coordinates of the position to be detected in the relative coordinate system xyz, the relative position of the position to be detected in the relative coordinate system xyz can be converted into its fixed coordinate system XYZ according to the transformation parameter. The absolute coordinates underneath, unified positioning standards, easy for user identification.

In this embodiment, the transformation parameter includes: a rotation matrix and a translation vector of the relative coordinate system xyz converted to the fixed coordinate system XYZ, thereby converting relative coordinates under the relative coordinate system xyz into a fixed coordinate system XYZ Absolute coordinates, which unify the positioning criteria of the current region.

In the embodiment of the present invention, by replacing the absolute coordinates of the calibration position of the plurality of easy-measure absolute coordinates, the absolute coordinates of the existing direct measurement base station 200 are replaced, which not only simplifies the erection process of the positioning system, but also shortens the erection time of the positioning system. Improve efficiency, and also expand the use of positioning systems, enabling the positioning system to be built in a more complex environment.

Further, in step S201, the acquiring the relative coordinates of the at least two calibration positions in the current region in the relative coordinate system xyz may include: first, acquiring each of the calibration positions and at least four of the specific positions. Second distance information between three specific locations. Then, based on the second distance information and the relative coordinates of the any three specific positions, the relative coordinates of each of the calibration positions under the relative coordinate system xyz are calculated. In this embodiment, the relative coordinates of at least two calibration positions in the relative coordinate system xyz are calculated by the principle of three-sided positioning, and the calculation process is simple and easy to implement.

In this embodiment, the positioning device 300 is disposed at the calibration position. Optionally, the number of positioning devices 300 is the same as the number of calibration positions, and the positioning device 300 is placed at the corresponding calibration position. Optionally, the positioning device 300 is one, and is movably placed at each calibration position, for example, after calibrating the relative coordinates of the current calibration position under the relative coordinate system xyz, moving to the next calibration position, or The time range is placed at the specified calibration position, thereby completing the calibration of the relative coordinates of the respective calibration positions in the relative coordinate system xyz.

Further, the acquiring the second distance information between each of the calibration positions and any three of the at least four specific positions may include: acquiring the location and location obtained by the positioning device 300 at the current calibration position. The second distance information between any three specific locations is described. The positioning device 300 can be used for ranging. For example, in one embodiment, the positioning device 300 can be inductively measured to obtain its current calibration position and any three specific positions. Second distance information between. In another embodiment, the positioning device 300 can measure the distance by direct measurement to obtain its second distance information between the current calibration position and the any three specific positions. The manner in which the positioning device 300 measures the distance is not limited.

In addition, a base station 200 is provided at each specific location. In this embodiment, the number of base stations 200 is the same as the number of specific locations, and the base station 200 is placed at a corresponding specific location, so that the current area can be located by multiple base stations 200. The obtaining the first distance information between each of the two specific locations in the at least four specific locations in the current area may include: receiving, by the base stations 200, the first distance information between the acquired base stations 200 and the other base stations 200. Correspondingly, the base station 200 can measure a plurality of ways. For example, in one embodiment, the base station 200 can measure the distance by sensing, thereby obtaining the first distance information between the base station 200 and the other base stations 200. In another embodiment, the base station 200 can measure in a direct measurement manner to obtain first distance information between it and other base stations 200.

For example, in one embodiment, in conjunction with FIGS. 1 and 3, the calibration location includes a first calibration location 21 and a second calibration location 22, the particular location including the first particular location 10, the second specific location 11, and the third particular location 13 and a fourth specific position 14, wherein the first specific position 10, the second specific position 11, the third specific position 13, and the fourth specific position 14 are the same height in the current area.

The first specific position 10 is set as the origin, and the vector formed by the first specific position 10 and the second specific position 11 is taken as the x-axis, and a right-hand Cartesian Cartesian coordinate system is established, which is the relative coordinate system xyz.

The relative coordinates of the first specific position 10, the second specific position 11, the third specific position 13, and the fourth specific position 14 in the relative coordinate system xyz are (x ₁₀ , y ₁₀ , z ₁₀ ), (x ₁₁ , y ₁₁ , z ₁₁ ), (x ₁₂ , y ₁₂ , z ₁₂ ) and (x ₁₃ , y ₁₃ , z ₁₃ ), where x ₁₀ = y ₁₀ = z ₁₀ = y ₁₁ = z ₁₁ = z ₁₂ = z ₁₃ =0. The first distance information between the first specific position 10 and the second specific position 11, the third specific position 13, and the fourth specific position 14 are d _10-11 , d _10-12 , d _10-13 , respectively, and the second specific The first distance information between the position 11 and the third specific position 13 and the fourth specific position 14 is d _11-12 , d _11-13 , respectively, and the first distance between the third specific position 13 and the fourth specific position 14 The information is d _12-13 , x ₁₁ =d _10-11 , then the first specific position 10, the second specific position 11, the third specific position 13 and the fourth specific position 14 can be calculated according to the following formula under the relative coordinate system xyz Relative coordinates:

The relative coordinates of the second specific position 11, the third specific position 13, and the fourth specific position 14 in the relative coordinate system xyz can be calculated according to the formula (1).

The second distance information between the first calibration position 21 and the second specific position 11, the third specific position 13, and the fourth specific position 14 are d _21-11 , d _21-12 , d _21-13 , respectively, and the second calibration The distance between the position 22 and the second specific position 11, the third specific position 13, and the fourth specific position 14 are d _22-11 , d _22-12 , d _{22-13 , respectively} . It is assumed that the relative coordinates of the first calibration position 21 under the relative coordinate system xyz are (x ₂₁ , y ₂₁ , z ₂₁ ), and the relative coordinates of the second calibration position 22 under the relative coordinate system xyz are (x ₂₂ , y ₂₂ , z ₂₂ ), the calculation formulas for calculating the relative coordinates of the first calibration position 21 and the second calibration position 22 in the relative coordinate system xyz by the three-sided positioning principle are as follows:

According to the formula (2), the relative coordinates of the first calibration position 21 under the relative coordinate system xyz can be calculated, and the relative coordinates of the second calibration position 22 under the relative coordinate system xyz can be calculated according to the formula (3).

The manner of obtaining the absolute coordinates of the calibration position in the fixed coordinate system XYZ also includes various types. For example, in one embodiment, the obtaining the absolute position of at least two calibration positions in the current region in the preset fixed coordinate system XYZ The coordinates may include: obtaining the absolute coordinates of the positioning device 300 at the current calibration position measured in the fixed coordinate system XYZ. For example, the absolute coordinates of the current calibration position under the fixed coordinate system XYZ can be directly measured by the positioning device 300. Optionally, the fixed coordinate system is a world coordinate system, and the positioning device 300 can measure the absolute coordinates of the current calibration position in the world coordinate system based on a positioning manner such as GPS, wifi (WIreless-Fidelity, wireless network).

In another embodiment, the position of the absolute coordinate in the known fixed coordinate system XYZ in the current region may also be selected as the target position, and the at least two calibration positions in the current region are acquired under the preset fixed coordinate system XYZ. Prior to the absolute coordinates, the method includes receiving a user command that carries the absolute coordinates of each of the calibration positions in the fixed coordinate system XYZ. Select the position of the known absolute coordinates in the current area as the calibration position, and the user directly inputs the absolute coordinates of the corresponding position in the fixed coordinate system XYZ to obtain the absolute coordinates of the calibration position, so that the relative coordinates and absolute coordinates of the calibration position can be calculated. The transformation parameters between the relative coordinate system xyz and the fixed coordinate system XYZ, so that the location of the base station 200 in the positioning system is more flexible, and the set position of the base station 200 does not need to be constrained by the site environmental conditions.

Further, in the actual application scenario, after calculating the transformation parameter between the relative coordinate system xyz and the fixed coordinate system XYZ, the method may further include: acquiring relative coordinates of the current position under the relative coordinate system xyz And calculating an absolute coordinate of the current position in the fixed coordinate system XYZ according to a relative coordinate of the current position and the transformation parameter. Wherein, the current location is the real-time location of the target to be detected (eg, the game robot). After obtaining the transformation parameters between the relative coordinate system xyz and the fixed coordinate system XYZ, according to the relative coordinates of the current position in the relative coordinate system xyz, the absolute coordinates of the current position in the fixed coordinate system XYZ can be obtained conveniently and quickly, thereby The positioning of the current area is realized by using a unified fixed coordinate system XYZ, and the positioning system is simple and quick to construct.

Specifically, the calculating the absolute coordinates of the current position in the fixed coordinate system XYZ according to the relative coordinates of the current position and the transformation parameter may include: first, according to the transformation parameter and at least four The relative coordinates of the specific position are calculated, and the absolute coordinates of each specific position in the fixed coordinate system XYZ are calculated. Then, the absolute coordinates of the current position in the fixed coordinate system XYZ are calculated according to the relative coordinates of the current position and the absolute coordinates of any particular position. Therefore, the absolute coordinates of the object to be detected in the fixed coordinate system XYZ are convenient for the user to recognize.

The relative coordinates of the current position under the relative coordinate system xyz can be calculated by the principle of three-sided positioning or other means. In one embodiment, the relative coordinates of the current position in the relative coordinate system xyz are obtained by the trilateral positioning principle, and the obtaining the relative coordinates of the current position in the relative coordinate system xyz may include: acquiring the current Calculating the current position in a relative position according to the third distance information between the position and any three of the at least four specific positions, according to the third distance information and the relative coordinates of the any three specific positions The relative coordinates under the coordinate system xyz. Wherein, the process of obtaining the relative coordinates of the current position in the relative coordinate system xyz is calculated by using the principle of trilateral positioning, and the relative coordinates of the first calibration position 21 and the second calibration position 22 in the relative coordinate system xyz are obtained by using the trilateral positioning principle. The process is the same and will not be repeated here. In this embodiment, the positioning device 300 can be set on the object to be detected, so that the third distance information between the current position of the object to be detected and any three specific positions is detected in real time by the positioning device 300.

In another embodiment, the obtaining the relative coordinates of the current position in the relative coordinate system xyz may include: acquiring a fourth distance of the current position relative to any specific position on each coordinate axis of the relative coordinate system xyz And calculating, according to the fourth distance information and the relative coordinates of the any specific position, the relative coordinates of the current position in the relative coordinate system xyz. The fourth distance information of the current position relative to one of the specific positions on the respective axes (x-axis, y-axis, and z-axis) of the relative coordinate system xyz can be obtained by direct measurement or the like. Since the relative coordinates of the specific position under the relative coordinate system xyz have been calculated according to the formula (1), combined with the fourth distance information, the relative coordinates of the current position in the relative coordinate system xyz can be obtained.

In addition, after calculating the absolute coordinates of the current position in the fixed coordinate system XYZ according to the relative coordinates of the current position and the transformation parameter, the method may further include: transmitting the absolute coordinates of the current position to the display device, The absolute coordinates of the current position can be displayed in time by the display device, so that the user can intuitively obtain the position information of the current position. The display device may be a smart device such as a mobile phone or a tablet computer with an APP (application software) installed thereon.

It should be noted that the execution body of the positioning method of the positioning system of the present invention may be any one of at least four base stations 200, or may be a positioning device 300, or may be an independently set control device, such as a server.

The positioning system may be an UWb positioning system (Ultra Wideband, a carrierless communication technology, using nanosecond to picosecond non-sinusoidal narrow pulse transmission data), a Bluetooth positioning system, or an indoor positioning system such as a wifi positioning system.

Corresponding to the construction method of the positioning system of the first embodiment, the second embodiment provides a positioning system.

Embodiment 2

The embodiment of the present invention further provides a positioning system, which may include one or more processors, which work separately or in common, and the processor is used to perform the construction method of the positioning system of the first embodiment.

The second embodiment is explained with reference to the embodiment, and details are not described herein again.

The third embodiment will specifically explain the structure of the positioning system.

Embodiment 3

Referring to FIG. 1 , an embodiment of the present invention further provides a positioning system, which may include a base station 200 and a locating device 300 that is movably disposed. The base station 200 includes at least four, and the positions of any three of the at least four of the base stations 200 are not collinear.

Each base station 200 is capable of acquiring first distance information between it and other base stations 200. The base station 200 can measure a plurality of ways. For example, in one embodiment, the base station 200 can measure the distance by sensing to obtain the first distance information between the base station 200 and the other base stations 200. In another embodiment, the base station 200 can measure in a direct measurement manner to obtain first distance information between it and other base stations 200.

The positioning device 300 is disposed at at least two calibration positions, and is capable of acquiring second distance information between each calibration position and any three of the base stations 200. The positioning device 300 can be used for ranging. For example, in one embodiment, the positioning device 300 can be inductively measured to obtain its current calibration position and any three specific positions. Second distance information between. In another embodiment, the positioning device 300 can measure the distance by direct measurement to obtain its second distance information between the current calibration position and the any three specific positions. The manner in which the positioning device 300 measures the distance is not limited.

After the base station 200 and the positioning device 300 are deployed, the positioning system can be constructed by using different devices. For example, in one embodiment, the base station 200 establishes a relative coordinate system xyz and according to the first between the base stations 200. Calculating the relative coordinate system xyz and the fixed coordinate system by using distance information, second distance information between each calibration position and any three base stations 200, and absolute coordinates of each calibration position in a preset fixed coordinate system XYZ Transformation parameters between.

In another embodiment, the base station 200 and the positioning device 300 are in communication connection with a server, the server establishes a relative coordinate system xyz, and according to the first distance information between the base stations 200, each calibration position, and any three base stations 200 The second distance information between the two and the absolute coordinates of the respective calibration positions in the preset fixed coordinate system XYZ are used to calculate a transformation parameter between the relative coordinate system xyz and the fixed coordinate system.

Of course, the positioning device 300 can also be used to complete the positioning system. The positioning device 300 establishes a relative coordinate system xyz, and according to the first distance information between the base stations 200, and between the calibration positions and any three base stations 200. The two distance information and the absolute coordinates of the respective calibration positions in the preset fixed coordinate system XYZ are used to calculate transformation parameters between the relative coordinate system xyz and the fixed coordinate system.

Wherein, a transformation parameter between the relative coordinate system xyz and the fixed coordinate system is calculated. For details, refer to the construction method of the positioning system in the first embodiment, and details are not described herein again.

In the embodiment of the present invention, by measuring the absolute coordinates of the plurality of easily calibrated calibration positions, instead of the absolute coordinates of the existing direct measurement base station 200, the erection process of the positioning system is simplified, thereby shortening the erection time of the positioning system and improving the efficiency. It also expands the use of the positioning system and enables the positioning system to be built in a more complex environment. The transformation parameters between the relative coordinate system xyz and the fixed coordinate system XYZ are calculated by obtaining the relative coordinates and absolute coordinates of the calibration position, thereby making the selection of the position of the base station 200 in the positioning system more Flexible, the set location of base station 200 need not be constrained by site environmental conditions.

In this embodiment, the transformation parameter includes: the rotation coordinate matrix and the translation vector of the relative coordinate system xyz converted to the fixed coordinate system XYZ, thereby unifying the positioning standard of the current region, and facilitating user identification.

In an embodiment, at least four of the base stations 200 are located at the same level, which further simplifies the erection process of the positioning system, thereby accelerating the construction of the positioning system.

The number of base stations 200 can be selected according to actual conditions, for example, can be selected according to the shape and size of the current area (ie, the area to be located), so as to better cover the current area more comprehensively. For example, in one embodiment, the current area is quadrilateral, and the base station 200 can be selected as four. The four base stations 200 are respectively disposed on four sides of the current area to achieve full coverage of the current area. Any three of the four base stations 200 are not collinear, so that the relative coordinates of each base station in the relative coordinate system can be calculated by the triangle.

In another embodiment, the current area is an irregular shape, and the base station 200 can select more than four to better cover the current area more comprehensively.

Referring to FIG. 4, FIG. 5 and FIG. 6, the base station 200 can include a first processor 201 and a first indicator light 202. The first indicator light 202 is electrically connected to the first processor 201, so that the display state of the first indicator light 202 can be controlled by the first processor 201. The first indicator light 202 is used to indicate an ID status of the base station 200. The ID status of the base station 200 may include the base station 200 ID acquisition failure and the ID (identification number) of the current base station 200. In this embodiment, the ID state of the base station 200 can be distinguished by the illuminating color of the first indicator light 202, and the ID state of the base station 200 can be distinguished by the illuminating duration of the first indicator light 202, or the first indicator light 202 can be passed. The blinking state distinguishes the ID state of the base station 200, or the ID state of the base station 200 is distinguished by a combination of at least two of the illuminating color, the illuminating duration, and the blinking state of the first indicator light 202. Of course, the ID status of the base station 200 can also be distinguished by other means.

The base station 200 can also include a second indicator light 203. The second indicator light 203 is electrically connected to the first processor 201, so that the display state of the second indicator light 203 can be controlled by the first processor 201. The second indicator light 203 is used to indicate the working state of the base station 200. The working status of the base station 200 may include a self-test failure, a positioning failure, a communication failure between the base station 200 and the positioning device 300, and a successful communication between the base station 200 and the positioning device 300. In this embodiment, the working state of the base station 200 can be distinguished by the illuminating color of the second indicator 203, and the working state of the base station 200 can be distinguished by the illuminating duration of the second indicator 203, or the second indicator 203 can also be used. The blinking state distinguishes the operating state of the base station 200, or the operating state of the base station 200 is distinguished by a combination of at least two of the illuminating color, the illuminating duration, and the blinking state of the second indicator light 203. Of course, the working state of the base station 200 can also be distinguished by other means.

Table 1 is a table showing the relationship between the display state of the first indicator light 202 and the second indicator light 203 and the ID state and the operating state of the base station 200.

Table 1

It should be noted that, in the first processor 201, when the number of other base stations 200 is less than the preset number (for example, three), the second indicator 203 is controlled to be steady red, indicating that the current record cannot be The required number of base stations 200 are positioned.

If the base station 200 fails the self-test, it can be overcome by restarting the base station 200. If the base station 200 is not restarted multiple times, the problem of the self-test failure of the base station 200 cannot be solved, and the current base station 200 may be damaged and needs to be replaced in time.

Further, the base station 200 may further include a first communication interface. The first communication interface is electrically connected to the first processor 201, so that the first communication interface can communicate with an external device (for example, an external power source, a server, etc.) to implement power supply and data transmission to the base station 200. Optionally, the first communication interface is used to connect an external power source, thereby implementing power supply to the base station 200. Optionally, the first communication interface is used to connect to the server, so as to implement a communication connection between the base station 200 and the server, and implement data mutual transmission. For example, the base station 200 can obtain the upgrade information through the first communication interface, implement the firmware upgrade operation on the base station 200, or send the parameters to the base station 200 through the server to complete the parameter setting, and the base station 200 can also send the real-time detected data to the server. In order to facilitate further analysis and processing in the background. The first communication interface is a first USB interface 204 or other type of communication interface, which is not limited by the present invention.

The positioning system may further include a fixing component, and the base station 200 is mounted on the fixed device by the fixing component, thereby realizing fixing to the base station 200 and preventing inaccurate positioning caused by the shaking of the base station 200. Optionally, the fixing member is a fixing clip. Of course, the fixing member may also be selected as a fastener such as a screw.

7 and 8, the positioning device 300 can include a second processor 301 and a third indicator light 302. The second indicator 302 is electrically connected to the second indicator 302, so that the display state of the third indicator 302 can be controlled by the second processor 301. The third indicator light 302 is used to indicate the ID status of the positioning device 300. The ID status of the positioning device 300 may include the positioning device 300 ID acquisition failure and the ID of the current positioning device 300. In this embodiment, the ID state of the positioning device 300 can be distinguished by the illuminating color of the third indicator light 302, and the ID state of the positioning device 300 can be distinguished by the illuminating duration of the third indicator light 302, or the third indication can be The blinking state of the lamp 302 to distinguish the ID state of the positioning device 300, or by the third finger The combination of at least two of the illumination color, the illumination duration, and the blinking state of the indicator light 302 distinguishes the ID state of the positioning device 300. Of course, the ID status of the positioning device 300 can also be distinguished by other means.

The positioning device 300 can also include a fourth indicator light 303. The fourth indicator light 303 is electrically connected to the second processor 301, so that the display state of the fourth indicator light 303 can be controlled by the second processor 301. The fourth indicator light 303 is used to indicate the working state of the positioning device 300. The working state of the positioning device 300 may include a self-test failure, a positioning failure, an excessive positioning error, and a normal positioning. In this embodiment, the working state of the positioning device 300 can be distinguished by the illuminating color of the fourth indicator light 303, and the working state of the positioning device 300 can be distinguished by the illuminating duration of the fourth indicator 303, or the fourth indication can be The blinking state of the lamp 303 distinguishes the operating state of the positioning device 300, or the working state of the positioning device 300 is distinguished by a combination of at least two of the lighting color, the lighting duration, and the blinking state of the fourth indicator light 303. Of course, the working state of the positioning device 300 can also be distinguished by other means.

Table 2 is a table showing the relationship between the display state of the third indicator light 302 and the fourth indicator light 303 and the ID state and the operating state of the positioning device 300.

Table 2

It should be noted that, in Table 2, when the number of base stations 200 detected by the second processor 301 is less than the preset data (for example, the preset data is equal to 3), the fourth indicator light 303 is controlled to blink red, indicating the positioning data. Error or no location data. When the number of the base stations 200 detected by the second processor 301 is equal to the preset data, the fourth indicator light 303 is controlled to be steady red, indicating that the positioning data error is large. When the number of the base stations 200 detected by the second processor 301 is greater than the preset data, the fourth indicator light 303 is controlled to alternately flash the traffic lights, indicating that the positioning data is normal.

In addition, if the positioning device 300 fails the self-test, it can be overcome by restarting the positioning device 300. If the problem of the self-test failure of the positioning device 300 is still not solved, the current positioning device 300 may be damaged and needs to be replaced in time.

The positioning device 300 may further include a second communication interface electrically connected to the second processor 301, so that the positioning device can be realized by using the second communication interface with an external device (for example, an external power source, a server, the base station 200, etc.) 300 power supply and data exchange.

Optionally, the second communication interface may include a bus interface 304, the bus interface 304 is electrically connected to the second processor 301, and the bus interface 304 is used to connect an external power source, a server or a base station 200, thereby The power supply to the positioning device 300 is implemented, or data transmission between the positioning device 300 and the server is implemented to upgrade the positioning device 300 or perform parameter setting, or data transmission between the positioning device 300 and the base station 200 is implemented. The bus interface 304 can be selected as a CAN bus interface 304 (Controller Area Network) or other type of bus interface 304.

Optionally, the second communication interface may include a second USB interface 305, and the second USB interface 305 is electrically connected to the second processor 301. The second USB interface 305 is configured to connect to an external power source or a server, so as to implement power supply to the positioning device 300 or data transmission between the positioning device 300 and the server to perform upgrade or parameter setting of the positioning device 300. Of course, the second communication interface can also be other types of communication interfaces, which are not limited by the present invention.

Embodiment 4

An embodiment of the present invention provides a computer storage medium having stored therein program instructions, wherein the computer storage medium stores program instructions, and the program executes the method of the positioning system of the first embodiment.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The description of the "specific examples", or "some examples" and the like are intended to be included in the particular features, structures, materials or features described in connection with the embodiments or examples. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations in which the functions may be performed in a substantially simultaneous manner or in the reverse order, depending on the order in which they are illustrated. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, For execution of a system, device, or device (such as a computer-based system, a system including a processor, or the like) The system can be used from, or in conjunction with, an instruction execution system, apparatus, or device to execute a system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A method for constructing a positioning system, characterized in that the method comprises:

Obtaining relative coordinates of at least two calibration positions in the current coordinate area in the relative coordinate system and absolute coordinates in a preset fixed coordinate system, wherein at least two of the calibration positions are spaced apart;

A transformation parameter between the relative coordinate system and the fixed coordinate system is calculated based on relative coordinates and absolute coordinates of at least two of the calibration positions.
The method according to claim 1, wherein before the obtaining the relative coordinates of the at least two calibration positions in the relative coordinate system in the current region, the method further comprises:

Obtaining first distance information between each two specific locations in at least four specific locations in the current region, wherein any three of the at least four of the specific locations are not collinear, and each calibration location is spaced from each specific location ;

Establishing a relative coordinate system according to at least four of the specific locations;

Calculating relative coordinates of at least four of the specific positions in the relative coordinate system according to the first distance information and the relative coordinate system.
The method according to claim 2, wherein the acquiring the relative coordinates of the at least two calibration positions in the current region in the relative coordinate system comprises:

Obtaining second distance information between each of the calibration locations and any three of the at least four of the specific locations;

Calculating relative coordinates of each calibration position in the relative coordinate system according to the second distance information and the relative coordinates of the any three specific positions.
The method according to claim 3, wherein the positioning device is provided with a positioning device;

Obtaining second distance information between each of the calibration locations and any three of the at least four specific locations, including:

Obtaining second distance information between the positioning device and the any three specific locations obtained by the positioning device at the current calibration position.
The method according to claim 2, characterized in that each base station is provided with a base station;

And acquiring the first distance information between each two specific locations in the at least four specific locations in the current region, including:

Receiving, by the base stations, the first distance information between the acquired base stations and other base stations.
The method according to claim 2, wherein the establishing a relative coordinate system according to at least four of the specific locations comprises:

One of the specific positions is set as the origin, and a vector formed as a specific position of the origin and another specific position is set as one of the coordinate axes, and a relative coordinate system is established.
The method of claim 6 wherein said relative coordinate system is a three-dimensional Cartesian coordinate system.
The method according to claim 3, wherein the obtaining the absolute coordinates of the at least two calibration positions in the current region in a preset fixed coordinate system comprises:

Obtaining the measured absolute coordinates of the positioning device at the current calibration position in the fixed coordinate system;

or,

Before the obtaining the absolute coordinates of the at least two calibration positions in the current region in the preset fixed coordinate system, the method includes:

A user command is received that carries the absolute coordinates of each of the nominal positions in the fixed coordinate system.
The method according to claim 2, wherein after the calculating the transformation parameter between the relative coordinate system and the fixed coordinate system, the method further comprises:

Obtaining relative coordinates of the current position in the relative coordinate system;

Calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter.
The method according to claim 9, wherein the calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter comprises:

Calculating absolute coordinates of each specific position in the fixed coordinate system according to the transformation parameter and relative coordinates of at least four of the specific positions;

The absolute coordinates of the current position in the fixed coordinate system are calculated according to the relative coordinates of the current position and the absolute coordinates of any particular position.
The method according to claim 9, wherein the obtaining the relative coordinates of the current position in the relative coordinate system comprises:

Obtaining third distance information between the current location and any three of the at least four of the specific locations;

Calculating relative coordinates of the current position in a relative coordinate system according to the third distance information and relative coordinates of the any three specific positions.
The method according to claim 9, wherein the obtaining the relative coordinates of the current position in the relative coordinate system comprises:

Obtaining fourth distance information of the current position relative to any specific position on each coordinate axis of the relative coordinate system;

Calculating relative coordinates of the current position in a relative coordinate system according to the fourth distance information and the relative coordinates of the any particular position.
The method according to claim 9, wherein the calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter further comprises:

Sending the absolute coordinates of the current location to the display device.
The method of claim 1 wherein said transforming parameters comprise: said relative coordinate system transitioning to a rotation matrix and a translation vector of said fixed coordinate system.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the steps of the method of constructing the positioning system of any one of claims 1 to 14.
A positioning system, comprising one or more processors, operating separately or collectively, the processor being configured to:

Obtaining relative coordinates of at least two calibration positions in the current coordinate area in the relative coordinate system and absolute coordinates in a preset fixed coordinate system, wherein at least two of the calibration positions are spaced apart;

A transformation parameter between the relative coordinate system and the fixed coordinate system is calculated based on relative coordinates and absolute coordinates of at least two of the calibration positions.
The positioning system according to claim 16, wherein before the obtaining the relative coordinates of the at least two calibration positions in the relative coordinate system in the current region, the method further comprises:

Obtaining first distance information between each two specific locations in at least four specific locations in the current region, wherein any three of the at least four of the specific locations are not collinear, and each calibration location is spaced from each specific location ;

Establishing a relative coordinate system according to at least four of the specific locations;

Calculating relative coordinates of at least four of the specific positions in the relative coordinate system according to the first distance information and the relative coordinate system.
The positioning system according to claim 17, wherein the acquiring the relative coordinates of the at least two calibration positions in the current region in the relative coordinate system comprises:

Obtaining second distance information between each of the calibration locations and any three of the at least four of the specific locations;

Calculating relative coordinates of each calibration position in the relative coordinate system according to the second distance information and the relative coordinates of the any three specific positions.
The positioning system according to claim 18, wherein the positioning position is provided with a positioning device;

Obtaining second distance information between each of the calibration locations and any three of the at least four specific locations, including:

Obtaining second distance information between the positioning device and the any three specific locations obtained by the positioning device at the current calibration position.
The positioning system according to claim 17, wherein each base station is provided with a base station;

And acquiring the first distance information between each two specific locations in the at least four specific locations in the current region, including:

Receiving, by the base stations, the first distance information between the acquired base stations and other base stations.
The positioning system according to claim 17, wherein the establishing a relative coordinate system according to at least four of the specific positions comprises:

One of the specific positions is set as the origin, and a vector formed as a specific position of the origin and another specific position is set as one of the coordinate axes, and a relative coordinate system is established.
The positioning system according to claim 21, wherein said relative coordinate system is a three-dimensional Cartesian coordinate system.
The positioning system according to claim 18, wherein the obtaining the absolute coordinates of the at least two calibration positions in the current region in a preset fixed coordinate system comprises:

Obtaining the measured absolute coordinates of the positioning device at the current calibration position in the fixed coordinate system;

or,

Before the obtaining the absolute coordinates of the at least two calibration positions in the current region in the preset fixed coordinate system, the method includes:

A user command is received that carries the absolute coordinates of each of the nominal positions in the fixed coordinate system.
The positioning system according to claim 17, wherein after the calculating the transformation parameter between the relative coordinate system and the fixed coordinate system, the method further comprises:

Obtaining relative coordinates of the current position in the relative coordinate system;

Calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter.
The positioning system according to claim 24, wherein the calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter comprises:

Calculating absolute coordinates of each specific position in the fixed coordinate system according to the transformation parameter and relative coordinates of at least four of the specific positions;

The absolute coordinates of the current position in the fixed coordinate system are calculated according to the relative coordinates of the current position and the absolute coordinates of any particular position.
The positioning system according to claim 24, wherein the obtaining the relative coordinates of the current position in the relative coordinate system comprises:

Obtaining third distance information between the current location and any three of the at least four of the specific locations;

Calculating relative coordinates of the current position in a relative coordinate system according to the third distance information and relative coordinates of the any three specific positions.
The positioning system according to claim 24, wherein the obtaining the relative coordinates of the current position in the relative coordinate system comprises:

Obtaining fourth distance information of the current position relative to any specific position on each coordinate axis of the relative coordinate system;

Calculating relative coordinates of the current position in a relative coordinate system according to the fourth distance information and the relative coordinates of the any particular position.
The positioning system according to claim 24, wherein the calculating the absolute coordinates of the current position in the fixed coordinate system according to the relative coordinates of the current position and the transformation parameter further comprises:

Sending the absolute coordinates of the current location to the display device.
The positioning system of claim 16 wherein said transforming parameters comprise: said relative coordinate system transitioning to a rotation matrix and a translation vector of said fixed coordinate system.
A positioning system, comprising: a base station and a locating device that is movably arranged, wherein at least four of the base stations and at least four of the base stations are not collinear;

Each base station can acquire first distance information between it and other base stations;

The positioning device is disposed at at least two calibration positions, and is capable of acquiring second distance information between each calibration position and any three of the base stations;

The base station establishes a relative coordinate system, and according to the first distance information between the base stations, the second distance information between each calibration position and any three base stations, and the absolute coordinates of each calibration position in a preset fixed coordinate system Calculating a transformation parameter between the relative coordinate system and the fixed coordinate system.
The positioning system of claim 30 wherein at least four of said base stations are at the same level.
The positioning system according to claim 30, wherein said base station comprises a first processor and a first indicator electrically connected to said first processor, said first indicator being used to indicate said base station ID status.
The positioning system according to claim 32, wherein the base station further comprises a second indicator light electrically connected to the first processor, the second indicator light being used to indicate an operating status of the base station.
The positioning system according to claim 32 or 33, wherein the base station further comprises a first USB interface electrically connected to the first processor, the first USB interface for connecting an external power source or a server.
The positioning system according to claim 30, further comprising a fixing member, said base station being mounted to the fixed device by said fixing member.
The positioning system of claim 30, wherein the positioning device comprises a second processor and a third indicator light electrically coupled to the second processor, the third indicator light for indicating the Locate the ID status of the device.
The positioning system according to claim 36, wherein said positioning device further comprises a fourth indicator light electrically connected to said second processor, said fourth indicator light being used to indicate the operation of said positioning device status.
A positioning system according to claim 36 or 37, wherein said positioning device further comprises a bus interface electrically coupled to said second processor, said bus interface for connecting to an external power source, server or base station.
The positioning system according to claim 36 or 37, wherein the positioning device further comprises a second USB interface electrically connected to the second processor, the second USB interface for connecting an external power source or a server .
The positioning system according to claim 30, wherein said transforming parameters comprise: said relative coordinate system is converted to a rotation matrix and a translation vector of said fixed coordinate system.