CN106443578B - A kind of indoor positioning base station coordinates scaling method - Google Patents

A kind of indoor positioning base station coordinates scaling method Download PDF

Info

Publication number
CN106443578B
CN106443578B CN201610857267.1A CN201610857267A CN106443578B CN 106443578 B CN106443578 B CN 106443578B CN 201610857267 A CN201610857267 A CN 201610857267A CN 106443578 B CN106443578 B CN 106443578B
Authority
CN
China
Prior art keywords
base station
positioning
residual error
coordinate
average value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610857267.1A
Other languages
Chinese (zh)
Other versions
CN106443578A (en
Inventor
虞坤霖
张涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen City Purdue Technology Co Ltd
Original Assignee
Shenzhen City Purdue Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen City Purdue Technology Co Ltd filed Critical Shenzhen City Purdue Technology Co Ltd
Priority to CN201610857267.1A priority Critical patent/CN106443578B/en
Publication of CN106443578A publication Critical patent/CN106443578A/en
Application granted granted Critical
Publication of CN106443578B publication Critical patent/CN106443578B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/0284Relative positioning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/14Determining absolute distances from a plurality of spaced points of known location
    • G01S5/145Using a supplementary range measurement, e.g. based on pseudo-range measurements

Abstract

This application involves a kind of indoor positioning base station coordinates scaling methods, using the distance between positioning label measurement base station and positioning label to be demarcated to the initial position of base station, this method only to need using by positioning label and base station ranging, base station coordinates can be resolved, the coordinate mapping time of base station is substantially reduced, other measuring tools measure using tape measure etc. when not needing mounted base station at the scene.

Description

A kind of indoor positioning base station coordinates scaling method
Technical field
The present invention relates to a kind of transducer calibration methods, and in particular to a kind of initial coordinate of indoor positioning base station it is automatic Calibration algorithm.
Background technique
GPS GPS has extensive use in outdoor, but indoors since signal decaying can not It is accurately positioned.Then, the indoor base station based on bluetooth, WIFI, UWB signal supplements the deficiency of GPS.It is sat to resolve positioning Mark, the coordinate of locating base station (such as satellite, bluetooth, WIFI router) must be previously known.GPS is inquired by ephemeris The coordinate of satellite, and indoor base station is that scene is surveyed and drawn on the spot.This just needs to use other surveys such as tape measure when mounted base station at the scene Amount tool measures, and the time is longer, very inconvenient.
Summary of the invention
The application is to solve base station and is installed rear initial coordinate problem of calibrating.This application discloses a kind of indoor bases The calibration algorithm of station coordinates, so that only needing using by positioning label and base station ranging, so that it may resolve base station coordinates, contract significantly The short coordinate mapping time of base station.The application uses following technical scheme, and particular content is as follows:
1. mounted base station
Base station is ceiling mounted, is connected with the mains, guaranteeing can be logical with base station straight line within the scope of positioning tag activity Letter, centre do not have shelter, such as wall, pillar etc..
2. measurement
A) positioning label is placed in a fixed point in base station signal coverage area, measure its with each base station away from From.Positioning label is obtained between positioning label and each base station and arrives the distance between locating base station, and duplicate measurements n times take n times to survey The average value of amount gained distance measures n*N times altogether with n base station, obtains n average value.This n average value is known as " one group Measured value ", N can be 100.
B) one and fixed points different for the first time are chosen again, are repeated the above process, then obtain one group of measured value.
C) it repeats M times, obtains M group measured value, it is desirable that corresponding 20 fixed points are more equably laid in signal covering In range, so that the distance between fixed two-by-two be not less than 1 meter.M can be 20.
3. calculating
A) the base station initial coordinate being artificially arranged on software interface;
B) base station initial coordinate and measured value are used, using classical GPS triangle polyester fibre algorithm to each group of measured value Calculate positioning tag coordinate.
C) ask calculated positioning tag coordinate at a distance from the initial coordinate of base station, measurement of comparison value obtains positioning residual error.
D) each base station is respectively to x, and tri- directions translations of y, z, three directions of x, y, z are vertical two-by-two, ask positioning residual error because This change rate generated asks each label initial position to the gradient of positioning residual error.
E) initial position is mobile to the direction (negative gradient direction) for reducing positioning residual error.
F) iteration d), e) two steps, and constant testing positioning residual error average value, until base station location to position it is residual The average value of difference converges to 0.
G) the calibration coordinate of each base station is exported.
Explanation of nouns: base station: being arranged in indoor positioning device, can be with label communication ranging;Label: it moves indoors By positioning device, can be measured at a distance from each base station with base station communication;Positioning: label by with base station communication ranging, into Row series of computation obtains the relative coordinate of oneself;Base station coordinates calibration: after installing base station indoors, measure base station it Preceding initial relative coordinate.
This method makes base station coordinates calibration without increasing new measuring tool, can be completed, contracts using only positioning label The short time of the calibration of initial coordinate, simplify operating process.
Detailed description of the invention
Fig. 1 measurement and calculating process flow chart;
Fig. 2 software for calculation interface can input initial coordinate, observe position location, observe base station iterative process.
Specific embodiment
1. mounted base station
Base station is ceiling mounted, is connected with the mains, guaranteeing can be logical with base station straight line within the scope of positioning tag activity Letter, centre do not have shelter, such as wall, pillar etc..
2. measurement
As shown in Figure 1,
A) positioning label is placed in a fixed point in base station signal coverage area, measure its with each base station away from From.Positioning label is obtained between positioning label and each base station and arrives the distance between locating base station, and duplicate measurements n times take n times to survey The average value of amount gained distance measures n*N times altogether with n base station, obtains n average value.This n average value is known as " one group Measured value ", N can be 100.
B) one and fixed points different for the first time are chosen again, are repeated the above process, then obtain one group of measured value.
C) it repeats M times, obtains M group measured value, it is desirable that corresponding 20 fixed points are more equably laid in signal covering In range, so that the distance between fixed two-by-two be not less than 1 meter.M can be 20.
3. calculating
A) the base station initial coordinate being artificially arranged on software interface, as shown in Figure 2.
B) base station initial coordinate and measured value are used, using classical GPS triangle polyester fibre algorithm to each group of measured value Calculate positioning tag coordinate.
C) ask calculated positioning tag coordinate at a distance from the initial coordinate of base station, measurement of comparison value obtains positioning residual error.
D) each base station is respectively to x, and tri- directions translations of y, z, three directions of x, y, z are vertical two-by-two, ask positioning residual error because This change rate generated asks each label initial position to the gradient of positioning residual error.
E) initial position is mobile to the direction (negative gradient direction) for reducing positioning residual error.
F) iteration d), e) two steps, and constant testing positioning residual error average value, until base station location to position it is residual The average value of difference converges to 0.
G) the calibration coordinate of each base station is exported.

Claims (2)

1. a kind of indoor positioning base station coordinates scaling method, the following steps are included:
(1) mounted base station
Base station is ceiling mounted, is connected with the mains, guarantee positioning tag activity within the scope of can with base station line communication, in Between without shelter;
(2) it measures
A) positioning label is placed in a fixed point in base station signal coverage area, measures the positioning label and each base station The distance between, duplicate measurements n times take the average value of n times measurement gained distance, measure n*N times altogether with n base station, obtain n A average value;This n average value is known as " one group of measured value ";
B) one and fixed points different for the first time are chosen again, are repeated the above steps a), then obtain one group of measured value;
C) it repeats M times, obtains M group measured value, it is desirable that corresponding M fixed point is more equably laid in signal cover It is interior, so that the distance between fixed two-by-two be not less than 1 meter;
(3) it calculates
A) base station initial coordinate is artificially set on software interface;
B) base station initial coordinate and measured value are used, each group of measured value is calculated using classical GPS triangle polyester fibre algorithm Position tag coordinate;
C) ask calculated positioning tag coordinate at a distance from the initial coordinate of base station, measurement of comparison value obtains positioning residual error;
D) each base station is respectively to x, and tri- direction translations of y, z, three directions of x, y, z are vertical two-by-two, and positioning residual error is asked therefore to produce Raw change rate asks each label initial position to the gradient of positioning residual error;
E) initial position is mobile to the direction (negative gradient direction) for reducing positioning residual error;
F) iteration d), e) two steps, and the average value of constant testing positioning residual error, until base station location to position residual error Average value converges to 0;
G) the calibration coordinate of each base station is exported.
2. a kind of indoor positioning base station coordinates scaling method as described in claim 1, it is further characterized in that: N 100, Or M is 20.
CN201610857267.1A 2016-09-28 2016-09-28 A kind of indoor positioning base station coordinates scaling method Active CN106443578B (en)

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
CN106443578A CN106443578A (en) 2017-02-22
CN106443578B true CN106443578B (en) 2019-04-02

Family

ID=58169457

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610857267.1A Active CN106443578B (en) 2016-09-28 2016-09-28 A kind of indoor positioning base station coordinates scaling method

Country Status (1)

Country Link
CN (1) CN106443578B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
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
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
CN109633544B (en) * 2018-12-26 2021-04-06 奇点新源国际技术开发(北京)有限公司 Anchor point coordinate calibration method, anchor point positioning method and device
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

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011214920A (en) * 2010-03-31 2011-10-27 Chuo Univ Position estimating device, position estimation method, and program
CN103997784A (en) * 2014-05-20 2014-08-20 上海华为技术有限公司 Base station position obtaining method and device
CN104837142A (en) * 2015-03-27 2015-08-12 腾讯科技(深圳)有限公司 Calibration method of positioning reference point in wireless positioning system, and wireless positioning system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9456311B2 (en) * 2014-04-07 2016-09-27 At&T Intellectual Property I, L.P. Determining indoor location of devices using reference points and sensors

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011214920A (en) * 2010-03-31 2011-10-27 Chuo Univ Position estimating device, position estimation method, and program
CN103997784A (en) * 2014-05-20 2014-08-20 上海华为技术有限公司 Base station position obtaining method and device
CN104837142A (en) * 2015-03-27 2015-08-12 腾讯科技(深圳)有限公司 Calibration method of positioning reference point in wireless positioning system, and wireless positioning system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于室内定位的银行客户服务技术研究与实现;张涛;《中国优秀硕士学位论文全文数据库 信息科技辑》;20160115;全文 *

Also Published As

Publication number Publication date
CN106443578A (en) 2017-02-22

Similar Documents

Publication Publication Date Title
CN106443578B (en) A kind of indoor positioning base station coordinates scaling method
Blanco et al. A collection of outdoor robotic datasets with centimeter-accuracy ground truth
CN103399326B (en) GNSS (global navigation satellite system) dynamic measurement accuracy test system and method
CN108413988B (en) Method for quickly calibrating coordinate system of theodolite at tail end of robot
CN107708204B (en) UWB positioning system base station self-calibration method based on Kalman filtering
CN101806595B (en) Two-dimensional electronic compass calibration algorithm
CN103512499A (en) Optoelectronic scanning based single-step three dimensional coordinate measurement method
CN102096062A (en) System for determining position in a work space
CN106324632A (en) Plant protection unmanned aerial vehicle accurate positioning method under control point-free conditions
CN104154859A (en) Multi-scale measurement field integrated detecting method used for airplane digital assembly
Stephan et al. Evaluation of Indoor Positioning Technologies under industrial application conditions in the SmartFactoryKL based on EN ISO 9283
CN106792533A (en) Multidrop topology based on WiFi and the position measuring and calculating of pedestrian's boat approaches localization method
CN110325820A (en) Height map for indoor positioning service
CN109782225B (en) Method for positioning coordinates of base station
CN106705931B (en) It is a kind of to obtain the azimuthal method, apparatus of antenna for base station and system automatically
Zwirello et al. Study on UWB/INS integration techniques
Liu et al. A large scale 3D positioning method based on a network of rotating laser automatic theodolites
CN104483891A (en) Method for improving machine tool space movement precision
CN105627916A (en) Method for building tracker geographic coordinate system and measuring six degrees of freedom
CN110325819A (en) Precise height for indoor positioning is estimated
CN104122570A (en) Positioning method and device based on sensor
US7893874B2 (en) Global coordinate creation method for precision measurement of hollow frame
CN108332784A (en) A kind of range measurement verification method
CN108333576A (en) A kind of rotary ranging verification device and method
CN207675158U (en) One kind being based on anallatic inclination measuring device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant