CN106443578B - A kind of indoor positioning base station coordinates scaling method - Google Patents
A kind of indoor positioning base station coordinates scaling method Download PDFInfo
- 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
Links
Classifications
-
- 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
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
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.
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 (10)
| 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 |
| CN111373285A (en) * | 2018-11-30 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Coordinate calibration method and device of RTK (real time kinematic) reference station and storage medium |
| CN109459724B (en) * | 2018-12-03 | 2023-10-27 | 江苏云巅电子科技有限公司 | One-key real-time calibration system and method based on-site ranging information |
| 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 |
| 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 |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011214920A (en) * | 2010-03-31 | 2011-10-27 | Oki Electric Industry Co Ltd | 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)
| 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 |
-
2016
- 2016-09-28 CN CN201610857267.1A patent/CN106443578B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011214920A (en) * | 2010-03-31 | 2011-10-27 | Oki Electric Industry Co Ltd | 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)
| 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 | |
| CN108051835B (en) | Inclination measuring device based on double antennas and measuring and lofting method | |
| 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 | |
| CN109782225B (en) | Method for positioning coordinates of base station | |
| JP7157754B2 (en) | Accurate altitude estimation for indoor positioning | |
| CN101806595B (en) | Two-dimensional electronic compass calibration algorithm | |
| CN103512499A (en) | Optoelectronic scanning based single-step three dimensional coordinate measurement method | |
| CN104154859A (en) | Multi-scale measurement field integrated detecting method used for airplane digital assembly | |
| CN106705931B (en) | It is a kind of to obtain the azimuthal method, apparatus of antenna for base station and system automatically | |
| CN110806561B (en) | Self-calibration method for multiple base stations | |
| CN104483891A (en) | Method for improving machine tool space movement precision | |
| CN110657806A (en) | Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering | |
| Liu et al. | A large scale 3D positioning method based on a network of rotating laser automatic theodolites | |
| CN104122570A (en) | Positioning method and device based on sensor | |
| CN105627916A (en) | Method for building tracker geographic coordinate system and measuring six degrees of freedom | |
| CN106792533A (en) | Multidrop topology based on WiFi and the position measuring and calculating of pedestrian's boat approaches localization method | |
| CN106405604A (en) | Sensor-based positioning method and device thereof | |
| CN110986784B (en) | Reference coordinate acquisition method and application thereof | |
| US7893874B2 (en) | Global coordinate creation method for precision measurement of hollow frame | |
| CN102621523B (en) | Method for calibrating borderless sample plot | |
| Ciężkowski et al. | Apparent beacon position estimation for accuracy improvement in lateration positioning system | |
| Grinyak et al. | Accuracy of Indoor Navigation with Bluetooth Beacons |
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 |