CN104837142B - Calibration method and system for positioning reference point in wireless positioning system - Google Patents

Calibration method and system for positioning reference point in wireless positioning system Download PDF

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CN104837142B
CN104837142B CN201510140318.4A CN201510140318A CN104837142B CN 104837142 B CN104837142 B CN 104837142B CN 201510140318 A CN201510140318 A CN 201510140318A CN 104837142 B CN104837142 B CN 104837142B
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reference point
positioning reference
point
positioning
coordinate
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CN104837142A (en
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刘志斌
陈慧卉
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Abstract

The embodiment of the invention discloses a calibration method of a positioning reference point in a wireless positioning system, which comprises the following steps: setting the coordinate of the first positioning reference point as the origin of a coordinate system; determining the directions of a first coordinate axis and a second coordinate axis of a coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point by selecting the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point; and selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates. The invention also discloses a wireless positioning system, which can realize low maintenance cost and avoid the need of manual position calibration during initial arrangement and the need of manual calibration again during later beacon adjustment or replacement.

Description

Calibration method and system for positioning reference point in wireless positioning system
Technical Field
The invention relates to the field of computer network communication, in particular to a calibration method of a positioning reference point in a wireless positioning system and the wireless positioning system.
Background
With the popularization of smart mobile devices (such as mobile phones, wearable devices, etc.), smart homes, smart stores, buildings, etc. are also vigorously developed. Wireless location technologies (including indoor location technologies) are fundamental core technologies supporting the industry, and can sense the position of a user carrying a mobile terminal in the environment in real time (or quasi-real time, i.e., triggered at some key time point or location), transmit the position to a background server for collection and summarization, and analyze a large data stream of an individual user or a user group by combining a data mining method so as to discover valuable knowledge, trends or business opportunities.
In implementing a wireless location technology, a plurality of anchor nodes (also referred to as "location base stations," "location reference points," "reference points," or "beacon" or the like) must first be deployed in an environment to achieve effective coverage of the environmental area. Meanwhile, the positions of the anchor nodes are also required to be calibrated to serve as a reference basis for subsequent perception of the position of the mobile user.
At present, anchor nodes are manually arranged, and position coordinates of each node are measured and calibrated. When the environmental area is large, hundreds, even tens of thousands of anchor nodes are usually required to be arranged. It is also conceivable that the total number of anchor nodes will be exceptionally large when spreading out relevant traffic nationwide or even globally, resulting in a rather staggering total manpower expenditure and cost.
In the prior art, when a wireless positioning system is implemented, the calibration of a positioning reference point mainly includes the following two methods:
1. indirect calibration: the method comprises the steps that position coordinates of each beacon are not directly calibrated, after all beacons are arranged, the signal strength (RSSI) of one or more beacons is measured through each key position (for example, the beacon is divided into a plurality of grids at equal intervals, and the central point of each grid) of an instrument in the environment, so that an RSSI fingerprint database is established; when the mobile user is subsequently positioned, the position information is determined by acquiring the strength of each beacon signal of the position in real time and performing matching comparison (such as a neighbor method) with the records in the RSSI fingerprint database.
2. Direct calibration: directly measuring the position coordinates of each beacon in an environment (map), and establishing a ranging disturbance (error) model of each beacon; and when the mobile user is subsequently positioned, correcting the measured position by combining a ranging disturbance model based on a multi-sensor information fusion method to obtain a final positioning result.
The first type of method can be regarded as a "batch processing" method, and when the beacon position of a certain area is subsequently adjusted, or the number of the areas is increased or decreased, or the equipment is replaced and upgraded, the area with a larger range needs to be re-measured, so that the maintenance cost is high. In the second type of method, although the newly added nodes can be dynamically measured and calibrated along with the continuous arrangement of the nodes, subsequently, if the positions or the number of the beacons and the like are required to be adjusted, only the changed beacons need to be re-measured and calibrated, other beacons cannot be affected, and relatively speaking, the maintenance cost is low.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a calibration method for a positioning reference point in a wireless positioning system and a wireless positioning system, which can achieve low maintenance cost and avoid the need of manually performing position calibration during initial arrangement and the need of manually performing calibration again during later beacon adjustment or replacement.
In order to solve the above technical problem, a first aspect of the embodiments of the present invention discloses a method for calibrating a positioning reference point in a wireless positioning system, including:
setting the coordinate of the first positioning reference point as the origin of a coordinate system;
determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point by selecting the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point;
and selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates.
With reference to the first aspect, in a first possible implementation manner, the determining, by selecting a second location reference point and a third location reference point, directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first location reference point, the second location reference point, and the third location reference point, and calculating coordinates of the second location reference point and the third location reference point includes:
selecting a second positioning reference point, determining the direction of a first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, and calculating the distance from the second positioning reference point to the first positioning reference point to obtain the coordinate of the second positioning reference point;
and selecting a third positioning reference point, determining the direction of a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, and obtaining the coordinate of the third positioning reference point.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner, the determining, according to the direction from the first positioning reference point to the second positioning reference point, the direction of the first coordinate axis of the coordinate system includes:
determining a direction from the first positioning reference point to the second positioning reference point as a positive direction of a first coordinate axis of the coordinate system.
With reference to the first possible implementation manner of the first aspect, in a third possible implementation manner, the determining, according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, the direction of the second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point, and obtaining the coordinates of the third positioning reference point includes:
according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point respectively and the coordinates of the second positioning reference point, solving the coordinates of the third positioning reference point by adopting a pre-established equation;
and when the solved solutions have positive solutions, selecting the positive solutions as the coordinates of the third positioning reference point.
With reference to the first aspect, in a fourth possible implementation manner, the determining coordinates of the selected positioning reference point in the coordinate system by calculating distances from the selected positioning reference point to positioning reference points of at least three known coordinates includes:
measuring the distances from the selected positioning reference point to the positioning reference points of three known coordinates, and calculating the coordinates of the selected positioning reference point in the coordinate system by adopting a three-point measurement method; or
And calculating the coordinates of the selected positioning reference point in the coordinate system by measuring the distances from the selected positioning reference point to at least four positioning reference points with known coordinates by adopting a multipoint positioning method.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner, when the coordinates of the selected positioning reference point are calculated by using a multipoint positioning method, the method further includes:
and jointly optimizing the coordinates of the positioning reference points of the known coordinates adjacent to the selected positioning reference points by the multi-point positioning method, wherein the quadrants to which the optimized coordinates belong in the coordinate system are unchanged.
With reference to the first aspect, or the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, or the fourth possible implementation manner of the first aspect, or the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner, after the calculating the coordinates of the second positioning reference point and the third positioning reference point, before the selecting, one by one, all remaining positioning reference points in the wireless positioning system, the method further includes:
selecting a fourth positioning reference point, wherein the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point;
and determining the direction of a third coordinate axis of the coordinate system according to the vertical direction from the fourth positioning reference point to the plane, and calculating the coordinate of the fourth positioning reference point in the coordinate system by adopting a three-point measurement method by measuring the distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point and the third positioning reference point respectively.
The second aspect of the embodiments of the present invention discloses a wireless positioning system, including:
the first reference point setting module is used for setting the coordinate of the first positioning reference point as the origin of a coordinate system;
the coordinate calculation module is used for determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point by selecting the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point;
and the selection determining module is used for selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates.
With reference to the second aspect, in a first possible implementation manner, the coordinate calculation module includes:
a second reference point selection and determination unit, configured to select a second positioning reference point, determine a direction of a first coordinate axis of the coordinate system according to a direction from the first positioning reference point to the second positioning reference point, and obtain a coordinate of the second positioning reference point by calculating a distance from the second positioning reference point to the first positioning reference point;
and the third reference point selection and determination unit is used for selecting a third positioning reference point, determining the direction of a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, and obtaining the coordinate of the third positioning reference point.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner, the determining, by the second reference point selection unit, a direction of the first coordinate axis of the coordinate system according to a direction from the first positioning reference point to the second positioning reference point specifically includes:
the second reference point selection determination unit determines a direction from the first positioning reference point to the second positioning reference point as a positive direction of the first coordinate axis of the coordinate system.
With reference to the first possible implementation manner of the second aspect, in a third possible implementation manner, the third reference point selection determining unit includes:
a solving unit, configured to solve the coordinate of the third positioning reference point by using a pre-established equation according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point, and the coordinate of the second positioning reference point;
and the third coordinate determination unit is used for selecting the positive solution as the coordinate of the third positioning reference point when the solved solutions have the positive solution.
With reference to the second aspect, in a fourth possible implementation manner, the selecting and determining module includes:
the three-point measuring unit is used for calculating the coordinate of the selected positioning reference point in the coordinate system by adopting a three-point measuring method by measuring the distances from the selected positioning reference point to the positioning reference points of three known coordinates; or
And the multipoint positioning unit is used for calculating the coordinates of the selected positioning reference point in the coordinate system by adopting a multipoint positioning method by measuring the distances from the selected positioning reference point to at least four positioning reference points with known coordinates.
With reference to the fourth possible implementation manner of the second aspect, in a fifth possible implementation manner, the multipoint positioning unit is further configured to: and jointly optimizing the coordinates of the positioning reference points of the known coordinates adjacent to the selected positioning reference points by the multi-point positioning method, wherein the quadrants to which the optimized coordinates belong in the coordinate system are unchanged.
With reference to the second aspect, or the first possible implementation manner of the second aspect, or the second possible implementation manner of the second aspect, or the third possible implementation manner of the second aspect, or the fourth possible implementation manner of the second aspect, or the fifth possible implementation manner of the second aspect, in a sixth possible implementation manner, the method further includes:
a fourth reference point selecting module, configured to select a fourth positioning reference point after the coordinates of the second positioning reference point and the third positioning reference point are calculated by the coordinate calculating module and before the selecting and determining module selects all remaining positioning reference points in the wireless positioning system one by one, where the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point;
and the fourth coordinate calculation module is used for determining the direction of a third coordinate axis of the coordinate system according to the vertical direction from the fourth positioning reference point to the plane, and calculating the coordinate of the fourth positioning reference point in the coordinate system by adopting a three-point measurement method by measuring the distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point and the third positioning reference point respectively.
A third aspect of the embodiments of the present invention discloses a computer storage medium, where the computer storage medium stores a program, and the program includes, when executed, all the steps of the calibration method for positioning a reference point in a wireless positioning system in the first aspect of the present invention, or the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, or the fourth possible implementation manner of the first aspect, or the fifth possible implementation manner of the first aspect, or the sixth possible implementation manner of the first aspect.
By implementing the embodiment of the invention, a coordinate system is established through the first positioning reference point, the second positioning reference point and the third positioning reference point, and the extending direction of each coordinate axis of the coordinate system is determined, so that along with the sequential arrangement of the positioning reference points, the coordinates of the newly-added positioning reference points can be dynamically determined through the coordinate system and the distances from the positioning reference points with at least three known coordinates, the respective positions are automatically calibrated based on the cooperative ranging and positioning among the positioning reference points with identity marks, the positioning reference points are not required to be manually measured, the maintenance cost is low, and the technical problems that the position calibration needs to be manually carried out during initial arrangement and the calibration needs to be carried out again during later beacon adjustment or replacement in the prior art are solved; in addition, the coordinates of the positioning reference points of known coordinates can be corrected and optimized through correction algorithms such as a multipoint positioning method and the like, and the method has strong expansibility and adaptability.
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 the drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a calibration method for a positioning reference point in a wireless positioning system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for calibrating a positioning reference point in a wireless positioning system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for calibrating a positioning reference point in a wireless positioning system according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of the present invention for determining coordinate axis directions;
FIG. 5 is a flowchart illustrating a method for calibrating a position reference point in a wireless positioning system according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a wireless positioning system according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a coordinate calculation module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a third reference point selection determination unit according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a selection determining module according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another embodiment of a wireless positioning system provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiments of the present invention may be implemented based on the application scenario shown in fig. 1, the environment layout diagram 10 may be a layout diagram that needs to be wirelessly located, such as a home indoor layout diagram, a mall layout diagram, a parking lot layout diagram, and the like, and the location reference point 100 may also be an "anchor node", "reference point", "location base station", or "beacon", and the like, and may be various wireless signal transmitting or receiving devices, such as bluetooth, wifi, ZigBee, and the like, which are manually arranged in the environment, and after the locations of the location reference points 100 are calibrated, the location reference point will be used as a reference for sensing the location of a subsequent mobile user, such as sensing the specific location of the user in a home, and the specific location of the user vehicle in a parking lot.
The following describes in detail a specific embodiment of the method for calibrating a positioning reference point in a wireless positioning system according to the present invention with reference to fig. 2 to 5, and how to automatically calibrate the position of each positioning reference point is described:
fig. 2 is a flowchart illustrating a method for calibrating a location reference point in a wireless location system according to an embodiment of the present invention, where the method includes:
step S200: setting the coordinate of the first positioning reference point as the origin of a coordinate system;
specifically, the calibration method of the positioning reference points in the wireless positioning system in each embodiment of the present invention may be to dynamically or incrementally complete the placement of each positioning reference point in turn during the placement process, and then the first positioning reference point may be the first placed positioning reference point; or waiting until all the positioning reference points in the environment are completely arranged, and then synchronously or asynchronously starting each positioning reference point, wherein the first positioning reference point can be a positioning reference point selected randomly or according to the preference of a user from the environment; and the first positioning reference point is used as the origin of the coordinate system.
Step S202: determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point by selecting the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point;
specifically, after the second positioning reference point and the third positioning reference point are selected, it may be determined that the coordinate system is in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point, and the directions of two coordinate axes of the coordinate system are determined, for example, the direction of the first coordinate axis may be determined according to the direction from the first positioning reference point to the second positioning reference point, then the direction of the second coordinate axis of the coordinate system may be determined based on the direction of the first coordinate axis, and the coordinates of the second positioning reference point and the third positioning reference point may be finally calculated by measuring the distances between the first positioning reference point, the second positioning reference point, and the third positioning reference point.
It should be noted that, in the embodiment of the present invention, how to determine the directions of the first coordinate axis and the second coordinate axis of the coordinate system in the plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point according to the selected second positioning reference point and the third positioning reference point is not limited, as long as the directions of the two coordinate axes of the coordinate system can be determined by using the coordinate system with the first positioning reference point as the origin on the plane.
It will be appreciated that, similar to the first location reference point described above, the selected second location reference point may be a second located location reference point and the selected third location reference point may be a third located location reference point, or both may be a location reference point selected from the environment, either randomly or according to user preference.
Step S204: and selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates.
Specifically, after the coordinate system and the directions of two coordinate axes of the coordinate system are determined, for each dynamically added positioning reference point or each remaining positioning reference point in the environment, the coordinates of the dynamically added positioning reference point or each remaining positioning reference point in the environment in the coordinate system can be confirmed by calculating the distances from the dynamically added positioning reference point to the positioning reference points of at least three known coordinates, so that the coordinate positioning of all the positioning reference points in the environment is automatically completed.
It should be noted that, in each embodiment of the present invention, each positioning reference point may measure distance from each other, that is, each positioning reference point may sense and communicate with each other, and each positioning reference point has an identity ID uniquely corresponding to each positioning reference point, so as to distinguish other positioning reference points except for the positioning reference point, that is, each positioning reference point is a positioning reference point capable of performing identity identification; it can be understood that, in the underlying communication protocol, each positioning reference point is required to add its own ID code when sending a signal; meanwhile, when other positioning reference point signals are received, the ID of the other party is analyzed. Each location reference point has a unique ID. Specifically, what ID allocation scheme and coding scheme are adopted, but the embodiments of the present invention are not limited thereto, and all of them are within the scope of the present invention.
By implementing the embodiment of the invention, a coordinate system is established through the first positioning reference point, the second positioning reference point and the third positioning reference point, and the extending direction of each coordinate axis of the coordinate system is determined, so that the coordinates of the newly-added positioning reference points can be dynamically determined through the coordinate system and the distances from the positioning reference points with at least three known coordinates along with the sequential arrangement of the positioning reference points, the respective positions are automatically calibrated based on the cooperative ranging and positioning between the positioning reference points with the identity marks, the positioning reference points are not required to be manually measured, the maintenance cost is low, and the technical problems that the position calibration needs to be manually carried out during initial arrangement and the calibration needs to be carried out again during later beacon adjustment or replacement in the prior art are solved.
Further, as shown in fig. 3, a method flow diagram of another embodiment of the calibration method for positioning a reference point in a wireless positioning system provided by the present invention includes:
step S300: setting the coordinate of the first positioning reference point as the origin of a coordinate system;
specifically, refer to step S200 in the above embodiment of fig. 2, which is not described herein again.
Step S302: selecting a second positioning reference point, determining the direction of a first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, and calculating the distance from the second positioning reference point to the first positioning reference point to obtain the coordinate of the second positioning reference point;
specifically, the direction from the first positioning reference point to the second positioning reference point may be determined as a positive direction of a first coordinate axis of the coordinate system, and assuming that the first coordinate axis is a y-axis, for example, if the calculated distance from the second positioning reference point to the first positioning reference point is k, then the coordinate of the second positioning reference point may be (0, k); the direction from the first positioning reference point to the positioning reference point may also be determined as the negative direction of the first coordinate axis of the coordinate system, and assuming that the first coordinate axis is the x-axis, the coordinate of the second positioning reference point may be derived as (-k, 0), and so on. It should be noted that the present invention is not limited to the above-mentioned embodiments, as long as the direction of the first coordinate axis of the coordinate system can be determined according to the direction from the first positioning reference point to the second positioning reference point, and the coordinate of the second positioning reference point can be obtained by calculating the distance from the second positioning reference point to the first positioning reference point.
Step S304: selecting a third positioning reference point, determining the direction of a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, and obtaining the coordinate of the third positioning reference point;
specifically, the schematic diagram for determining the coordinate axis directions provided by the present invention shown in fig. 4 is provided, where point a represents a first positioning reference point, point B represents a second positioning reference point, point C represents a third positioning reference point, and assuming that the direction from the first positioning reference point to the positioning reference point is determined as the positive direction of the first coordinate axis of the coordinate system in step S302, and the first coordinate axis is the y-axis, the coordinate of point B is determined as (0,
Figure BDA0000689478270000101
coordinates (x) of the third location reference pointc，yc) Can respectively calculate the distances from the point C to the point A and the point B
Figure BDA0000689478270000102
And
Figure BDA0000689478270000103
and the coordinates of the point B (0,
Figure BDA0000689478270000104
) The solution is performed using pre-established equations, which may be as follows:
Figure BDA0000689478270000105
wherein x in the solution of the above equationcThere are generally two sets of solutions, one of which is a positive solution and the other is a negative solution, and one of the sets can be selected as a solution of the equation, so as to obtain the coordinates of the third positioning reference point; wherein if the positive solution is selected as the coordinate of the third positioning reference pointIf the negative solution is selected as the coordinate of the third positioning reference point, the negative direction of the second coordinate axis is determined to point to one side of the third positioning reference point, namely the third positioning reference point is located in the negative direction area of the second coordinate axis. Preferably, a positive solution may be chosen as the coordinates of the third positioning reference point.
It should be noted that fig. 4 is only an example of the embodiment of the present invention, and should not be taken as limiting the scope of the embodiment of the present invention.
Step S306: and selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates.
Specifically, as shown in fig. 4, the fourth positioning reference point D may determine the coordinates of the point D by calculating the distances of the measured point D from the three positioning reference points A, B and C of known coordinates.
Further, step S306 may calculate the coordinates of the selected positioning reference point in the coordinate system by measuring the distances from the selected positioning reference point to the positioning reference points of the three known coordinates by using a three-point measurement method; or the coordinates of the selected positioning reference point in the coordinate system can be calculated by measuring the distances from the selected positioning reference point to at least four positioning reference points with known coordinates and adopting a multipoint positioning method.
Specifically, among the distances from the selected positioning reference point to three positioning reference points with known coordinates, the three positioning reference points with known coordinates may be three positioning reference points closest to the selected positioning reference point, since each positioning reference point in the wireless positioning system may sense each other and automatically measure the distance to other positioning reference points, the three positioning reference points closest to the selected positioning reference point may be determined, or the user generally arranges each reference point in sequence by area in the process of arranging the positioning reference points, often arranges the next positioning reference point adjacent to the previous positioning reference point, and thus may determine the three positioning reference points closest arranged as the three positioning reference points closest to the next positioning reference point arranged next; then three-point measurement is adopted to calculate three positioning reference points which are nearest to the selected positioning reference point;
further, when the coordinates of the selected positioning reference point are calculated by using a multipoint positioning method, the method may further include: and jointly optimizing the coordinates of the positioning reference points of the known coordinates adjacent to the selected positioning reference points by the multi-point positioning method, wherein the quadrants to which the optimized coordinates belong in the coordinate system are unchanged.
Specifically, the coordinates of the positioning reference point of the known coordinates adjacent to the selected positioning reference point can be corrected and optimized or corrected by a multipoint positioning method, but the corrected coordinates are inconvenient to be positive and negative, namely, the quadrant to which the optimized coordinates belong in the coordinate system is unchanged; for example, the corrected coordinate is (-2, 5), then the value on the x-axis should remain negative and the value on the y-axis should remain positive, regardless of how the value is corrected.
Furthermore, although only two coordinate axes in the coordinate system are described in the above description of the embodiments of fig. 2 to 4, the embodiments of the present invention may be applied to a three-dimensional space, and in practical engineering implementation, it is usually also necessary to perform wireless positioning of the three-dimensional space, that is, other positioning reference points apart from the plane may be disposed on the basis of the positioning reference points arranged on the plane; specifically, as shown in fig. 5, a method flow diagram of another embodiment of the calibration method for positioning a reference point in a wireless positioning system provided by the present invention includes:
step S500: setting the coordinate of the first positioning reference point as the origin of a coordinate system;
step S502: selecting a second positioning reference point, determining the direction of a first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, and calculating the distance from the second positioning reference point to the first positioning reference point to obtain the coordinate of the second positioning reference point;
step S504: selecting a third positioning reference point, determining the direction of a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, and obtaining the coordinate of the third positioning reference point;
specifically, step S500 to step S504 may refer to step S300 to step S304 in the embodiment of fig. 3, which is not described herein again.
Step S506: selecting a fourth positioning reference point, wherein the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point;
step S508: determining the direction of a third coordinate axis of the coordinate system according to the vertical direction from the fourth positioning reference point to the plane, and calculating the coordinate of the fourth positioning reference point in the coordinate system by adopting a three-point measurement method by measuring the distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point and the third positioning reference point respectively;
specifically, the same explanation can be given by taking fig. 4 as an example, in which the coordinates of a are set to (0, 0, 0), the coordinates of B are set to (0,
Figure BDA0000689478270000121
0) the coordinate of C is calculated to obtain (x)c，yc，0)，xcAnd ycIt can also be derived from the calculations described in the embodiment of fig. 3 that, assuming that the fourth positioning reference point D is not coplanar with the plane formed by a, B and C, i.e. the fourth positioning reference point is not in the plane formed by the first, second and third positioning reference points, the coordinate (x) of D in the three-point measurement method is determined by measuring the distances from the fourth positioning reference point to the first, second and third positioning reference points, respectivelyD，yD，zD) If the positive solution is selected as the coordinate of the fourth positioning reference point, it is determined that the positive direction of the third coordinate axis points to one side of the fourth positioning reference point, that is, the fourth positioning reference point falls in the positive direction area of the third coordinate axis, and if the negative solution is selected as the coordinate of the fourth positioning reference point, it is determined that the negative direction of the third coordinate axis points to one side of the fourth positioning reference point, that is, the fourth positioning reference point falls in the negative direction area of the third coordinate axis. Preferably, a positive solution may be chosen as the coordinates of the fourth positioning reference point.
Step S510: and selecting all the remaining positioning reference points in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates.
Specifically, reference may be made to the implementation manners of the above embodiments, which are not described herein again.
By implementing the embodiment of the invention, a coordinate system is established through the first positioning reference point, the second positioning reference point and the third positioning reference point, and the extending direction of each coordinate axis of the coordinate system is determined, so that along with the sequential arrangement of the positioning reference points, the coordinates of the newly-added positioning reference points can be dynamically determined through the coordinate system and the distances from the positioning reference points with at least three known coordinates, the respective positions are automatically calibrated based on the cooperative ranging and positioning among the positioning reference points with identity marks, the positioning reference points are not required to be manually measured, the maintenance cost is low, and the technical problems that the position calibration needs to be manually carried out during initial arrangement and the calibration needs to be carried out again during later beacon adjustment or replacement in the prior art are solved; in addition, the coordinates of the positioning reference points of known coordinates can be corrected and optimized through correction algorithms such as a multipoint positioning method and the like, and the method has strong expansibility and adaptability.
In order to better implement the above solution of the embodiment of the present invention, the present invention further provides a wireless positioning system, as shown in fig. 6, which is a schematic structural diagram of the wireless positioning system provided in the embodiment of the present invention, the wireless positioning system 60 may include: a first reference point setting module 600, a coordinate calculation module 602 and a selection determination module 604, wherein
The first reference point setting module 600 is configured to set a coordinate of the first positioning reference point as an origin of the coordinate system;
the coordinate calculation module 602 is configured to determine directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point by selecting the second positioning reference point and the third positioning reference point, and calculate coordinates of the second positioning reference point and the third positioning reference point;
the selection determining module 604 is configured to select all remaining positioning reference points in the wireless positioning system one by one, and determine the coordinates of the selected positioning reference point in the coordinate system by calculating distances from the selected positioning reference point to at least three positioning reference points with known coordinates.
Specifically, as shown in fig. 7, which is a schematic structural diagram of the coordinate calculation module provided in the embodiment of the present invention, the coordinate calculation module 602 may include a second reference point selection determination unit 6020 and a third reference point selection determination unit 6022, where the second reference point selection determination unit 6020 and the third reference point selection determination unit 6022 are included in the schematic structural diagram, respectively
The second reference point selection determination unit 6020 is configured to select a second positioning reference point, determine a direction of the first coordinate axis of the coordinate system according to a direction from the first positioning reference point to the second positioning reference point, and obtain a coordinate of the second positioning reference point by calculating a distance from the second positioning reference point to the first positioning reference point;
the third reference point selection and determination unit 6022 is configured to select a third positioning reference point, determine, according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point, and the direction of the first coordinate axis, the direction of the second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point, and obtain the coordinate of the third positioning reference point.
Further, the second reference point selection determining unit 6020 determines the direction of the first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, which specifically includes: the second reference point selection determining unit 6020 determines the direction from the first positioning reference point to the second positioning reference point as the positive direction of the first coordinate axis of the coordinate system.
Still further, as shown in fig. 8, which is a schematic structural diagram of a third reference point selection determining unit provided in the embodiment of the present invention, the third reference point selection determining unit 6022 may include: a solving unit 60220 and a third coordinate determination unit 60222, wherein
The solving unit 60220 is configured to solve the coordinate of the third positioning reference point by using a pre-established equation according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point, and the coordinate of the second positioning reference point;
the third coordinate determination unit 60222 is configured to, when there is a positive solution in the solutions obtained, select the positive solution as the coordinate of the third positioning reference point.
Still further, as shown in fig. 9, which is a schematic structural diagram of a selection determining module according to an embodiment of the present invention, the selection determining module 604 may include: the three-point measuring unit 6040 or the multipoint positioning unit 6042 are illustrated as including the three-point measuring unit 6040 and the multipoint positioning unit 6042, in which
The three-point measuring unit 6040 is configured to measure distances from the selected positioning reference point to positioning reference points of three known coordinates, and calculate coordinates of the selected positioning reference point in the coordinate system by using a three-point measurement method;
the multipoint positioning unit 6042 is configured to measure distances from the selected positioning reference point to at least four positioning reference points with known coordinates, and calculate coordinates of the selected positioning reference point in the coordinate system by using a multipoint positioning method.
Specifically, the multipoint positioning unit 6042 is further configured to: and jointly optimizing the coordinates of the positioning reference points of the known coordinates adjacent to the selected positioning reference points by the multi-point positioning method, wherein the quadrants to which the optimized coordinates belong in the coordinate system are unchanged.
Still further, as shown in fig. 10, which is a schematic structural diagram of another embodiment of the wireless positioning system provided by the present invention, the wireless positioning system 60 may further include a fourth reference point selecting module 606 and a fourth coordinate calculating module 608 in addition to the first reference point setting module 600, the coordinate calculating module 602 and the selection determining module 604, wherein the fourth reference point selecting module 606 and the fourth coordinate calculating module 608 are further included
The fourth reference point selecting module 606 is configured to select a fourth positioning reference point after the coordinates of the second positioning reference point and the third positioning reference point are calculated by the coordinate calculating module 602, and before the selecting and determining module 604 selects all remaining positioning reference points in the wireless positioning system one by one, where the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point;
the fourth coordinate calculation module 608 is configured to determine a direction of a third coordinate axis of the coordinate system according to a vertical direction from the fourth positioning reference point to the plane, and calculate a coordinate of the fourth positioning reference point in the coordinate system by using a three-point measurement method by measuring distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point, and the third positioning reference point, respectively.
It should be noted that the functions of the functional modules of the wireless positioning system 60 in the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the related description of the foregoing method embodiment, which is not described herein again.
To sum up, a coordinate system is established through a first positioning reference point, a second positioning reference point and a third positioning reference point, and the extending direction of each coordinate axis of the coordinate system is determined, so that along with the sequential arrangement of the positioning reference points, the coordinates of newly-added positioning reference points can be dynamically determined through the coordinate system and the distances from the positioning reference points of at least three known coordinates, the respective positions are automatically calibrated based on the cooperative ranging positioning between the positioning reference points with identity marks, the positioning reference points are not required to be manually measured, the maintenance cost is low, and the technical problems that the position calibration needs to be manually carried out during the initial arrangement and the calibration needs to be carried out again during the later beacon adjustment or replacement in the prior art are solved; in addition, the coordinates of the positioning reference points of known coordinates can be corrected and optimized through correction algorithms such as a multipoint positioning method and the like, and the method has strong expansibility and adaptability.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims (10)

1. A calibration method for positioning reference points in a wireless positioning system is characterized by comprising the following steps:
selecting a first arranged positioning reference point as a first positioning reference point;
setting the coordinate of the first positioning reference point as the origin of a coordinate system, wherein the real position of the first positioning reference point is unknown;
selecting a second arranged positioning reference point as a second positioning reference point, and selecting a third arranged positioning reference point as a third positioning reference point;
determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point; wherein the true positions of the second positioning reference point and the third positioning reference point are unknown, and the coordinate calculation equation of the third positioning reference point includes:
Figure FDA0002962902400000011
the point A represents a first positioning reference point, the point B represents a second positioning reference point, and the point C represents a third positioning reference point; the first coordinate axis is a y-axis; the coordinates of the point B are confirmed as
Figure FDA0002962902400000012
Coordinates (x) of the third location reference pointc，yc)；
According to the calculated distances from the point C to the point A and the point B respectively
Figure FDA0002962902400000013
And
Figure FDA0002962902400000014
and coordinates of point B
Figure FDA0002962902400000015
Then x can be obtainedcAnd ycA value of (d);
selecting a fourth positioning reference point, wherein the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point;
determining the direction of a third coordinate axis of the coordinate system according to the vertical direction from the fourth positioning reference point to the plane, and calculating the coordinate of the fourth positioning reference point in the coordinate system by adopting a three-point measurement method by measuring the distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point and the third positioning reference point respectively; the fourth positioning reference point coordinate calculation mode comprises the following steps: the coordinates of A are set to be (0, 0, 0), and the coordinates of B are set to be
Figure FDA0002962902400000016
Calculating to obtain x in the coordinates of the point C according to the coordinate calculation equation of the third positioning reference pointcAnd ycTo obtain the C point coordinate (x)c，yc0), respectively reaching the point A, the point B and the point C according to the distance from the point D; the coordinate (x) of D can be obtainedD，yD，zD)；
Wherein point D represents a fourth location reference point;
selecting all remaining positioning reference points or each dynamically added positioning reference point in the wireless positioning system one by one, and determining the coordinates of the selected positioning reference points in the coordinate system by calculating the distances from the selected positioning reference points to the positioning reference points of at least three known coordinates comprises: the positioning reference points can measure distance mutually, can sense and communicate mutually, and have unique corresponding identity marks to distinguish other positioning references except the positioning reference points; establishing communication connection between the selected positioning reference point and the positioning reference points of the first three known coordinates based on the identity, measuring the distances from the selected positioning reference point to the positioning reference points of the first three known coordinates, and calculating the coordinates of the selected positioning reference point in the coordinate system by adopting a three-point measurement method; or establishing communication connection between the selected positioning reference point and the positioning reference points of the first four known coordinates based on the identity identifiers, measuring the distances from the selected positioning reference point to the positioning reference points of the first four known coordinates, and calculating the coordinates of the selected positioning reference point in the coordinate system by adopting a multi-point positioning method; when the coordinate of the selected positioning reference point is calculated by adopting a multipoint positioning method, the coordinate of the positioning reference point of the known coordinate close to the selected positioning reference point is corrected, optimized or corrected by adopting the multipoint positioning method, and the quadrant to which the optimized coordinate belongs in the coordinate system is unchanged;
each positioning reference point in the wireless positioning system senses each other and automatically measures the distance to other positioning reference points.
2. The method of claim 1, wherein determining directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point, and calculating coordinates of the second positioning reference point and the third positioning reference point comprises:
determining the direction of a first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, and obtaining the coordinate of the second positioning reference point by calculating the distance from the second positioning reference point to the first positioning reference point;
and determining the direction of a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis respectively, and obtaining the coordinate of the third positioning reference point.
3. The method of claim 2, wherein said determining a direction of a first coordinate axis of the coordinate system from the direction from the first location reference point to the second location reference point comprises:
determining a direction from the first positioning reference point to the second positioning reference point as a positive direction of a first coordinate axis of the coordinate system.
4. The method of claim 2, wherein determining the direction of the second coordinate axis of the coordinate system in the plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances of the third positioning reference point from the first positioning reference point and the second positioning reference point, respectively, and the direction of the first coordinate axis, and deriving the coordinates of the third positioning reference point comprises:
according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point respectively and the coordinates of the second positioning reference point, solving the coordinates of the third positioning reference point by adopting a pre-established equation;
and when the solved solutions have positive solutions, selecting the positive solutions as the coordinates of the third positioning reference point.
5. A wireless location system, comprising:
the first selection module is used for selecting a first arranged positioning reference point as a first positioning reference point;
the first reference point setting module is used for setting the coordinates of the first positioning reference point as the origin of a coordinate system, and the real position of the first positioning reference point is unknown;
the second selection module is used for selecting a second arranged positioning reference point as a second positioning reference point and selecting a third arranged positioning reference point as a third positioning reference point;
the coordinate calculation module is used for determining the directions of a first coordinate axis and a second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point, and calculating to obtain the coordinates of the second positioning reference point and the third positioning reference point; wherein the true positions of the second positioning reference point and the third positioning reference point are unknown, and the coordinate calculation equation of the third positioning reference point includes:
Figure FDA0002962902400000031
the point A represents a first positioning reference point, the point B represents a second positioning reference point, and the point C represents a third positioning reference point; the first coordinate axis is a y-axis; the coordinates of the point B are confirmed as
Figure FDA0002962902400000032
Coordinates (x) of the third location reference pointc，yc)；
According to the calculated distances from the point C to the point A and the point B respectively
Figure FDA0002962902400000041
And
Figure FDA0002962902400000042
and coordinates of point B
Figure FDA0002962902400000043
Then x can be obtainedcAnd ycA value of (d);
a fourth reference point selecting module, configured to select a fourth positioning reference point after the coordinates of the second positioning reference point and the third positioning reference point are calculated by the coordinate calculating module and before the selecting and determining module selects all remaining positioning reference points in the wireless positioning system one by one, where the fourth positioning reference point is not in a plane formed by the first positioning reference point, the second positioning reference point, and the third positioning reference point;
the fourth coordinate calculation module is used for determining the direction of a third coordinate axis of the coordinate system according to the vertical direction from the fourth positioning reference point to the plane, and calculating the coordinate of the fourth positioning reference point in the coordinate system by adopting a three-point measurement method by measuring the distances from the fourth positioning reference point to the first positioning reference point, the second positioning reference point and the third positioning reference point respectively; the fourth positioning reference point coordinate calculation mode comprises the following steps: the coordinates of A are set to be (0, 0, 0), and the coordinates of B are set to be
Figure FDA0002962902400000044
Calculating to obtain x in the coordinates of the point C according to the coordinate calculation equation of the third positioning reference pointcAnd ycTo obtain the C point coordinate (x)c，yc0), respectively reaching the point A, the point B and the point C according to the distance from the point D; the coordinate (x) of D can be obtainedD，yD，zD)；
Wherein point D represents a fourth location reference point;
a selection determining module, configured to select all remaining location reference points or each dynamically added location reference point in the wireless location system one by one, and determine coordinates of the selected location reference point in the coordinate system by calculating distances from the selected location reference point to location reference points of at least three known coordinates, where the determining module is configured to: the positioning reference points can measure distance mutually, can sense and communicate mutually, and have unique corresponding identity marks to distinguish other positioning references except the positioning reference points; the three-point measuring unit is used for calculating the coordinate of the selected positioning reference point in the coordinate system by adopting a three-point measuring method by measuring the distances from the selected positioning reference point to the positioning reference points of the first three known coordinates; or the multi-point positioning unit is used for establishing communication connection between the selected positioning reference point and the positioning reference points of the first four known coordinates based on the identity identification, measuring the distances from the selected positioning reference point to the positioning reference points of the first four known coordinates, and calculating the coordinates of the selected positioning reference point in the coordinate system by adopting a multi-point positioning method; wherein the multipoint positioning unit is further configured to: correcting, optimizing or correcting the coordinates of the positioning reference point of the known coordinates adjacent to the selected positioning reference point by a multipoint positioning method, wherein the quadrant to which the optimized coordinates belong in the coordinate system is unchanged;
each positioning reference point in the wireless positioning system senses each other and automatically measures the distance to other positioning reference points.
6. The system of claim 5, wherein the coordinate calculation module comprises:
a second reference point determining unit configured to determine a direction of a first coordinate axis of the coordinate system according to a direction from the first positioning reference point to the second positioning reference point, and obtain a coordinate of the second positioning reference point by calculating a distance from the second positioning reference point to the first positioning reference point;
and the third reference point determining unit is used for determining the direction of the second coordinate axis of the coordinate system in a plane formed by the first positioning reference point, the second positioning reference point and the third positioning reference point according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point and the direction of the first coordinate axis, and obtaining the coordinate of the third positioning reference point.
7. The system of claim 6, wherein the second reference point selection determining unit determines the direction of the first coordinate axis of the coordinate system according to the direction from the first positioning reference point to the second positioning reference point, and specifically comprises:
the second reference point selection determination unit determines a direction from the first positioning reference point to the second positioning reference point as a positive direction of the first coordinate axis of the coordinate system.
8. The system of claim 6, wherein the third reference point selection determination unit comprises:
a solving unit, configured to solve the coordinate of the third positioning reference point by using a pre-established equation according to the calculated distances from the third positioning reference point to the first positioning reference point and the second positioning reference point, and the coordinate of the second positioning reference point;
and the third coordinate determination unit is used for selecting the positive solution as the coordinate of the third positioning reference point when the solved solutions have the positive solution.
9. A computer storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded by a processor and executes a calibration method for locating a reference point in a wireless location system according to any one of claims 1 to 4.
10. A hardware device, characterized in that it comprises a processor and a memory, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the calibration method for positioning reference points in a wireless positioning system according to any of claims 1-4.
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