CN106443578A - Indoor positioning base station coordinate calibration method - Google Patents
Indoor positioning base station coordinate calibration method Download PDFInfo
- Publication number
- CN106443578A CN106443578A CN201610857267.1A CN201610857267A CN106443578A CN 106443578 A CN106443578 A CN 106443578A CN 201610857267 A CN201610857267 A CN 201610857267A CN 106443578 A CN106443578 A CN 106443578A
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- base station
- positioning
- coordinate
- residual error
- distance
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Classifications
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- 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
- G01S5/0284—Relative positioning
-
- 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
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an indoor positioning base station coordinate calibration method. The distance between a base station and a positioning label is measured through the positioning label, so the initial position of the base station is calibrated. People only need to use the positioning label and the base station for ranging so that the coordinates of the base station can be calculated, coordinate surveying and mapping time of the base station is greatly shortened, and people do not need to use a tape and other measurement tools for measurement when the base station is installed on site.
Description
Technical field
The present invention relates to a kind of transducer calibration method, be specifically related to initial coordinate automatic of a kind of indoor positioning base station
Calibration algorithm.
Background technology
GPS GPS has had extensive application in outdoor, but in indoor owing to signal attenuation cannot
It is accurately positioned.Then, the deficiency of GPS is supplemented based on bluetooth, WIFI, the indoor base station of UWB signal.Sit to resolve positioning
Mark, locating base station（Such as satellite, bluetooth, WIFI router）Coordinate must be previously known.GPS is to be inquired by ephemeris
The coordinate of satellite, and indoor base station is scene surveys and draws on the spot.This be accomplished by the scene mounted base station when use tape measure etc. other surveyed
Amount instrument measures, and the time is longer, very inconvenient.
Content of the invention
What the application was to be solved is initial coordinate problem of calibrating after the installation of base station.This application discloses a kind of indoor base
The calibration algorithm of station coordinates so that only need use to be positioned label and find range with base station, it is possible to resolve base station coordinates, significantly contract
The short coordinate mapping time of base station.By the following technical solutions, particular content is as follows for the application：
1. mounted base station
Base station is ceiling mounted, connect with the mains, it is ensured that positioning tag activity in the range of can with base station line communication, in
Between there is no shelter, such as wall, pillar etc..
2. measure
A) fixing point being positioned over positioning label in base station signal coverage, measures its distance with each base station.
Obtain positioning label between positioning label and each base station to the distance between locating base station, duplicate measurements n times, take n times measurement
The mean value of gained distance, has measurement n*N time altogether with n base station, obtains n mean value.This n mean value is referred to as " one group of survey
Value ", N can be 100.
B) again choose a fixing point different from first time, repeat said process, then obtain one group of measured value.
C) repeat M time, obtain M group measured value, it is desirable to corresponding 20 fixing points are laid in signal more equably and cover
In the range of so that the distance between fixing two-by-two is not less than 1 meter.M can be 20.
3. calculate
A) the artificial base station initial coordinate arranging on software interface；
B) base station initial coordinate is used, and measured value, use the GPS triangle polyester fibre algorithm of classics to calculate each group of measured value
Positioning tag coordinate.
C) ask the distance of the positioning tag coordinate calculating and base station initial coordinate, measurement of comparison value, obtain positioning residual error.
D) each base station is respectively to x, tri-directions translations of y, z, and three directions of x, y, z are vertical two-by-two, ask positioning residual error because of
This rate of change producing, i.e. seeks the gradient to positioning residual error for each label initial position.
E) by initial position to the direction making positioning residual error reduce（Negative gradient direction）Mobile.
F) iteration d), e) two steps, and the mean value of the residual error of detection positioning always, until base station location makes to position residual
The mean value of difference converges to 0.
G) the demarcation coordinate of each base station is exported.
Explanation of nouns：Base station：It is arranged in the positioning equipment of indoor, can find range with label communication；Label：At indoor moving
It is positioned equipment, can communicate with base station, measure the distance with each base station；Positioning：Label by with base station communication distance measuring, enter
Row series of computation, obtains the relative coordinate of oneself；Base station coordinates is demarcated：Behind the complete base station of indoor location, measure base station it
Front initial relative coordinate.
The method makes base station coordinates demarcate without increasing new survey tool, only uses positioning label to complete, contracting
The time of the demarcation of short initial coordinate, simplify operating process.
Brief description
Fig. 1. measurement and calculating process flow diagram flow chart；
Fig. 2. software for calculation interface, initial coordinate can be inputted, observe position location, observe base station iterative process.
Detailed description of the invention
1. mounted base station
Base station is ceiling mounted, connect with the mains, it is ensured that positioning tag activity in the range of can with base station line communication, in
Between there is no shelter, such as wall, pillar etc..
2. measure
As it is shown in figure 1,
A) fixing point being positioned over positioning label in base station signal coverage, measures its distance with each base station.
Obtain positioning label between positioning label and each base station to the distance between locating base station, duplicate measurements n times, take n times measurement
The mean value of gained distance, has measurement n*N time altogether with n base station, obtains n mean value.This n mean value is referred to as " one group of survey
Value ", N can be 100.
B) again choose a fixing point different from first time, repeat said process, then obtain one group of measured value.
C) repeat M time, obtain M group measured value, it is desirable to corresponding 20 fixing points are laid in signal more equably and cover
In the range of so that the distance between fixing two-by-two is not less than 1 meter.M can be 20.
3. calculate
A) the artificial base station initial coordinate arranging on software interface, as shown in Figure 2.
B) base station initial coordinate is used, and measured value, use the GPS triangle polyester fibre algorithm of classics to each group of measured value
Calculate positioning tag coordinate.
C) ask the distance of the positioning tag coordinate calculating and base station initial coordinate, measurement of comparison value, obtain positioning residual error.
D) each base station is respectively to x, tri-directions translations of y, z, and three directions of x, y, z are vertical two-by-two, ask positioning residual error because of
This rate of change producing, i.e. seeks the gradient to positioning residual error for each label initial position.
E) by initial position to the direction making positioning residual error reduce（Negative gradient direction）Mobile.
F) iteration d), e) two steps, and the mean value of the residual error of detection positioning always, until base station location makes to position residual
The mean value of difference converges to 0.
G) the demarcation coordinate of each base station is exported.
Claims (2)
1. an indoor positioning base station coordinates scaling method, comprises the following steps：
（1）Mounted base station
Base station is ceiling mounted, connect with the mains, it is ensured that positioning tag activity in the range of can with base station line communication, in
Between there is no shelter.
（2）Measurement
A) fixing point being positioned over positioning label in base station signal coverage, measures this positioning label and each base station
Between distance, duplicate measurements n times, take the mean value of n times measurement gained distance, measure n*N time altogether with n base station, obtain n
Individual mean value.This n mean value is referred to as " one group of measured value ".
B) again choose a fixing point different from first time, repeat said process, then obtain one group of measured value.
C) repeat M time, obtain M group measured value, it is desirable to corresponding M fixing point is laid in signal cover more equably
In so that the distance between fixing two-by-two is not less than 1 meter.
（3）Calculate
A) base station initial coordinate is artificially set on software interface.
B) base station initial coordinate is used, and measured value, use the GPS triangle polyester fibre algorithm of classics to each group of measured value meter
Calculate positioning tag coordinate.
C) ask the distance of the positioning tag coordinate calculating and base station initial coordinate, measurement of comparison value, obtain positioning residual error.
D) each base station is respectively to x, tri-direction translations of y, z, and three directions of x, y, z are vertical two-by-two, ask positioning residual error therefore to produce
Raw rate of change, i.e. seeks the gradient to positioning residual error for each label initial position.
E) by initial position to the direction making positioning residual error reduce（Negative gradient direction）Mobile.
F) iteration d), e) two steps, and the mean value of the residual error of detection positioning always, until base station location makes to position residual error
Mean value converge to 0.
G) the demarcation coordinate of each base station is exported.
2. an indoor positioning base station coordinates scaling method as claimed in claim 1, further characterized in that：N is 100,
Or M is 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857267.1A CN106443578B (en) | 2016-09-28 | 2016-09-28 | A kind of indoor positioning base station coordinates scaling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857267.1A CN106443578B (en) | 2016-09-28 | 2016-09-28 | A kind of indoor positioning base station coordinates scaling method |
Publications (2)
| Publication Number | Publication Date |
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| CN106443578A true CN106443578A (en) | 2017-02-22 |
| CN106443578B CN106443578B (en) | 2019-04-02 |
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| CN201610857267.1A Active CN106443578B (en) | 2016-09-28 | 2016-09-28 | A kind of indoor positioning base station coordinates scaling method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2018161255A1 (en) * | 2017-03-07 | 2018-09-13 | 华为技术有限公司 | Method and apparatus for positioning indoor base station |
| CN109392086A (en) * | 2017-08-08 | 2019-02-26 | 深圳市润安科技发展有限公司 | A kind of method and system of the more base station locations of multizone |
| CN109459724A (en) * | 2018-12-03 | 2019-03-12 | 江苏云巅电子科技有限公司 | A key real-time calibration system and scaling method based on live ranging information |
| CN109633544A (en) * | 2018-12-26 | 2019-04-16 | 奇点新源国际技术开发(北京)有限公司 | A kind of anchor point coordinate scaling method, anchor point localization method and device |
| CN110290463A (en) * | 2019-08-05 | 2019-09-27 | 杭州智鹍科技有限公司 | UWB base station coordinates automatic calibration method and system based on Optimum Theory |
| WO2020107434A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device for rtk reference station, and storage medium |
| CN111347417A (en) * | 2018-12-24 | 2020-06-30 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN112969137A (en) * | 2021-02-02 | 2021-06-15 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| WO2023065110A1 (en) * | 2021-10-19 | 2023-04-27 | 深圳市优必选科技股份有限公司 | Method for calibrating base station, and computer device and storage medium |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161255A1 (en) * | 2017-03-07 | 2018-09-13 | 华为技术有限公司 | Method and apparatus for positioning indoor base station |
| CN109392086A (en) * | 2017-08-08 | 2019-02-26 | 深圳市润安科技发展有限公司 | A kind of method and system of the more base station locations of multizone |
| CN107708204B (en) * | 2017-10-24 | 2020-03-27 | 常州工学院 | UWB positioning system base station self-calibration method based on Kalman filtering |
| 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 |
| WO2020107434A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device for rtk reference station, and storage medium |
| CN109459724A (en) * | 2018-12-03 | 2019-03-12 | 江苏云巅电子科技有限公司 | A key real-time calibration system and scaling method based on live ranging information |
| CN111347417A (en) * | 2018-12-24 | 2020-06-30 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN111347417B (en) * | 2018-12-24 | 2022-05-10 | 深圳市优必选科技有限公司 | Position calibration method and device of UWB positioning equipment and robot |
| CN109633544A (en) * | 2018-12-26 | 2019-04-16 | 奇点新源国际技术开发(北京)有限公司 | A kind of anchor point coordinate scaling method, anchor point localization method and device |
| CN110290463A (en) * | 2019-08-05 | 2019-09-27 | 杭州智鹍科技有限公司 | UWB base station coordinates automatic calibration method and system based on Optimum Theory |
| CN110290463B (en) * | 2019-08-05 | 2021-03-12 | 杭州智鹍科技有限公司 | UWB base station coordinate automatic calibration method and system based on optimization theory |
| CN112969137A (en) * | 2021-02-02 | 2021-06-15 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN112969137B (en) * | 2021-02-02 | 2022-04-08 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| WO2023065110A1 (en) * | 2021-10-19 | 2023-04-27 | 深圳市优必选科技股份有限公司 | Method for calibrating base station, and computer device and storage medium |
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| CN106443578B (en) | 2019-04-02 |
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