CN106211080A - A kind of UWB base station coordinates method for self-calibrating - Google Patents
A kind of UWB base station coordinates method for self-calibrating Download PDFInfo
- Publication number
- CN106211080A CN106211080A CN201610856904.3A CN201610856904A CN106211080A CN 106211080 A CN106211080 A CN 106211080A CN 201610856904 A CN201610856904 A CN 201610856904A CN 106211080 A CN106211080 A CN 106211080A
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- China
- Prior art keywords
- base station
- self
- multicast group
- label
- coordinate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The application relates to a kind of UWB base station coordinates method for self-calibrating, the method use label to calibrate base station variation after position, fully automated complete, intervene completely without people after a base station movement wherein, automatically calibrate, and notified tag.Compared to not using the alignment system of this scheme, the movement of base station has no effect on location, it is not required that people re-scales.
Description
Technical field
The present invention relates to a kind of sensor method for self-calibrating, be specifically related to a kind of UWB locating base station and pass through between any two
It is in communication with each other, the method for self calibration position deviation.
Background technology
Alignment system based on indoor UWB base station is more and more widely used on indoor mobile robot.General determines
Position algorithm assumes that base station is motionless, prestores the initial coordinate of base station, and calculates tag coordinate accordingly.But apply in reality
In, it may appear that base station is not secured to indoor, and situation about likely can move.If location algorithm is still according to initial seat
Mark positions, then will necessarily cause locating bias.If therefore former scheme to ensure to position errorless, then want artificial to base station movement after
Coordinate re-scale.
Summary of the invention
Present application addresses during architecture, base station is caused deviations problem under situation of movement.This Shen
The most by the following technical solutions, particular content is as follows:
First can be communicated by wifi network, then both base station and label being designed as arbitrarily:
1. initialize
A. mounted base station；
B. by using label and calibration algorithm to determine the initial coordinate of base station；
The most each base station adds the multicast group preset, and each base station sends oneself ip address, and receives in this multicast group other
The ip address of base station；
The coordinate position of oneself is broadcast to this multicast group by the most each base station, receives other base stations in this multicast group simultaneously
Coordinate；
2. detection base station location variation
A. base station measures oneself distance with other base stations at set intervals；
If b. distance is consistent with the coordinate received in advance, continue normal work；
If c. measuring the distance change of certain some base station pair, and the base station of each change being to comprising wherein certain base station,
Then start correction；
3. correction
A. find range with other base stations in the base station of shift in position；
B. according to range measurement, call location algorithm, calculate the new position of the base station self of shift in position；
4. synchronize
A. new position is sent to other base stations, completes self calibration；
B. it is sent to new position position label.
The method is fully automated to be completed, and intervenes completely without people wherein, automatically calibrate, and lead to after a base station movement
Know label.Compared to not using the alignment system of this scheme, the movement of base station has no effect on location, it is not required that people marks again
Fixed.
Accompanying drawing explanation
Fig. 1. flow chart.
Detailed description of the invention
Use wifi network as communication infrastructure in view of UWB base station, then make base station and the label can on technology realizes
To use identical hardware device.This ensures that base station is possible not only to and label communication, as long as any two base stations are at signal
In the range of also can intercommunication range finding.First can be led to by wifi network both base station and label being designed as arbitrarily
Letter, then:
1. initialize
A. mounted base station；
B. by using label and calibration algorithm to determine the initial coordinate of base station；
The most each base station adds the multicast group preset, and each base station sends oneself ip address, and receives in this multicast group other
The ip address of base station；
The coordinate position of oneself is broadcast to this multicast group by the most each base station, receives the seat of other base stations in this multicast group simultaneously
Mark；
2. detection base station location variation
A. the distance of base station measurement per minute a time oneself and other base stations；
If b. distance is consistent with the coordinate received in advance, continue normal work；
If c. measuring the distance change of certain some base station pair, and the base station of each change being to comprising wherein certain base station,
Then start correction；
3. correction
A. find range with other base stations in the base station of shift in position；
B. according to range measurement, call location algorithm, calculate the new position of the base station self of shift in position；
4. synchronize
A. new position is sent to other base stations, completes self calibration；
B. it is sent to new position position label.
Claims (1)
1. a UWB base station coordinates method for self-calibrating, comprises the following steps: first base station and label are designed as any both
Can be communicated by wifi network, then:
1. initialize
A. mounted base station；
B. by using label and calibration algorithm to determine the initial coordinate of base station；
The most each base station adds the multicast group preset, and each base station sends oneself ip address, and receives in this multicast group other
The ip address of base station；
The coordinate position of oneself is broadcast to this multicast group by the most each base station, receives the seat of other base stations in this multicast group simultaneously
Mark；
2. detection base station location variation
A. base station measures oneself distance with other base stations at set intervals；
If b. distance is consistent with the coordinate received in advance, continue normal work；
If c. measuring the distance change of certain some base station pair, and the base station of each change being to comprising wherein certain base station,
Then start correction；
3. correction
A. find range with other base stations in the base station of shift in position；
B. according to range measurement, call location algorithm, calculate the new position of the base station self of shift in position；
4. synchronize
A. new position is sent to other base stations, completes self calibration；
B. it is sent to new position position label.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610856904.3A CN106211080A (en) | 2016-09-28 | 2016-09-28 | A kind of UWB base station coordinates method for self-calibrating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610856904.3A CN106211080A (en) | 2016-09-28 | 2016-09-28 | A kind of UWB base station coordinates method for self-calibrating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106211080A true CN106211080A (en) | 2016-12-07 |
Family
ID=57521047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610856904.3A Pending CN106211080A (en) | 2016-09-28 | 2016-09-28 | A kind of UWB base station coordinates method for self-calibrating |
Country Status (1)
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| CN (1) | CN106211080A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589401A (en) * | 2017-09-05 | 2018-01-16 | 成都精位科技有限公司 | Adaptive network-building method, alignment system and locating base station |
| CN107708204A (en) * | 2017-10-24 | 2018-02-16 | 常州工学院 | UWB positioning system base station self-calibrating methods based on Kalman filtering |
| CN110784822A (en) * | 2019-10-31 | 2020-02-11 | 广东博智林机器人有限公司 | Base station, base station positioning method and corresponding equipment |
| CN110996047A (en) * | 2019-11-18 | 2020-04-10 | 北京小米移动软件有限公司 | Pet tracking shooting method, device and system and computer readable storage medium |
| CN113766415A (en) * | 2020-06-02 | 2021-12-07 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN115134741A (en) * | 2021-03-24 | 2022-09-30 | 华为技术有限公司 | UWB base station anomaly detection method and electronic equipment |
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| CN104954992A (en) * | 2015-04-24 | 2015-09-30 | 北京楚捷科技有限公司 | Method for automatically locking temporary coordinates of positioning base station |
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| CN104297720A (en) * | 2014-10-08 | 2015-01-21 | 中国矿业大学 | Target positioning method with assistance of mobile node |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589401A (en) * | 2017-09-05 | 2018-01-16 | 成都精位科技有限公司 | Adaptive network-building method, alignment system and locating base station |
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| CN110996047A (en) * | 2019-11-18 | 2020-04-10 | 北京小米移动软件有限公司 | Pet tracking shooting method, device and system and computer readable storage medium |
| CN113766415A (en) * | 2020-06-02 | 2021-12-07 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN113766415B (en) * | 2020-06-02 | 2022-11-11 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN115134741A (en) * | 2021-03-24 | 2022-09-30 | 华为技术有限公司 | UWB base station anomaly detection method and electronic equipment |
| CN115134741B (en) * | 2021-03-24 | 2024-05-10 | 华为技术有限公司 | UWB base station anomaly detection method and electronic equipment |
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Application publication date: 20161207 |