CN106646380A - Multiple-base-station spatial positioning method and multiple-base-station spatial positioning system - Google Patents
Multiple-base-station spatial positioning method and multiple-base-station spatial positioning system Download PDFInfo
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- CN106646380A CN106646380A CN201611235546.0A CN201611235546A CN106646380A CN 106646380 A CN106646380 A CN 106646380A CN 201611235546 A CN201611235546 A CN 201611235546A CN 106646380 A CN106646380 A CN 106646380A
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention provides a multiple-base-station spatial positioning method and a multiple-base-station spatial positioning system. The method comprises the following steps of S1, respectively measuring relative positions of every two base stations in a space; S2, establishing a spatial coordinate system and obtaining the coordinate of each base station in the space in the spatial coordinate system; and S3, according to the coordinate of to-be-positioned equipment in a certain base station coordinate system in the space, obtaining the coordinate of the to-be-positioned equipment in the random base station coordinate system in the space and the absolute coordinate in the spatial coordinate system. Through performing networking on each base station in the space, the multi-base-station spatial positioning method and the multi-base-station spatial positioning system realize a large-area application purpose on a plurality of targets.
Description
Technical field
The present invention relates to space orientation technique field, more particularly, to a kind of many base station space-location methods and system.
Background technology
With the development and popularization of information technology and wireless communication technology, people increasingly increase to the demand for positioning and navigate
Greatly.Global positioning system (GPS) is the location technology being most widely used at present, disclosure satisfy that need of the people in outdoor positioning
Ask.But when GPS works indoors, signal strength signal intensity is affected by building and substantially reduced, receiver cannot enter
Row positioning.
In order to realize indoor positioning, relevant programme for example passes through indoor GPS (GPS, Global
Positioning System), infrared ray, bluetooth positioning, WIFI positioning, RFID (Radio Frequency
Identification, RF identification) positioning, binocular positioning etc. technology carry out location aware.However, related indoor positioning scheme
It is relatively costly, device configuration is complicated and positioning precision is not enough, it is impossible to meet people virtual reality interaction, augmented reality hand over
Mutually, the demand of the aspect such as Indoor Robot navigation.And in the range of some large spaces, positioned, it is especially multiobject
Positioning is particularly difficult.
The content of the invention
The present invention provides a kind of many base station space-location methods for solving the above problems and system, by determining in space
Position base station carries out networking, reaches and is applied to multiple targets, large-scale application purpose.
According to an aspect of the present invention, there is provided a kind of many base station space-location methods, comprise the following steps：
S1, the relative position for measuring each two base station in space respectively；
S2, space coordinates are set up, obtain coordinate of each base station in space coordinates in space；
S3, the coordinate in equipment to be positioned in space certain base station coordinates system, obtain equipment to be positioned in space
In coordinate in arbitrary base station coordinates system and the absolute coordinate in space coordinates.
Used as preferred, step S1 is specifically included：
S11, coordinate of the same equipment to be positioned respectively in two neighboring base station coordinates system is measured respectively；
S12, one of base station coordinates system and the transformational relation of another base station coordinates system are obtained by Coordinate Conversion；
S13, repeat step S11 to S12, obtain the relative position per two neighboring coordinate system in space.
Used as preferred, each direction of principal axis of the corresponding base station coordinates system of multiple locating base stations is identical in the space, by flat
Shifting is calculated the relative position of each two base station coordinates system in space.
As preferred, when the coordinate system in the space between each base station has inclination angle mutually, treat in space coordinates
Coordinate of the location equipment in two base stations is respectively (x1, y1, z1), (x2, y2, z2), and two base stations are relative to geodetic coordinates
The inclination angle of system is respectively (α1, β1, γ1) and (α2, β2, γ2), then one of base station can be tried to achieve relative to another base station
The anglec of rotation (α, β, γ)=(α2-α1,β2-β1,γ2-γ1), then a base station relative to another base station coordinate (x0, y0,
Z0) can be tried to achieve by following formula：
(x0,y0,z0)T=(x1,y1,z1)T- R (α, beta, gamma) * (x2,y2,z2)T
As preferred, the seat calibration method tool for measuring same equipment to be positioned in two neighboring base station coordinates system
Body includes：
Tested point is measured to the distance of the base station coordinates system origin of coordinates by ultrasonic ranging method；
By Plane of rotation laser scanning angle-measuring method, two reference axis are measured in tested point and base station coordinates system respectively
Vertical line constitutes the angle of plane with two reference axis；
Calculate coordinate of the tested point in base station coordinates system.
Used as preferred, in step S2, space coordinates is set up in one of base station as the origin of coordinates with space
System, the space coordinates overlap with the base station coordinates system.
A kind of many base station space positioning systems, including at least two be used to send the locating base station and at least of framing signal
The individual equipment to be positioned for receiving framing signal, described each locating base station is designed with base station coordinates system, in the space sky is provided with
Between coordinate system, at least two locating base station signal coverage areas in space are overlapped and incomplete coincidence.
Used as preferred, the locating base station includes two, described two locating base stations respectively positioned at space front and
Rear, framing signal is relative to be sent, and signal covers that space is overlapped and incomplete coincidence.
Used as preferred, the locating base station includes three, in three locating base stations two be located at space rear, one
It is individual positioned at space front, or two be located at space front, one be located at space rear；The framing signal of three base stations is relative
Send, signal coverage areas are overlapped and incomplete coincidence.
Used as preferred, at least two locating base station, one of locating base station is dominant base, remaining locating base station
It is that, from base station, the base station coordinates system using dominant base is used as space coordinates.
The application proposes a kind of many base station space-location methods, by setting up base station coordinates to each base station in space
System, and sets up space coordinates to whole space, by the relative position in space between each base station for calculating, and then can be with
Coordinate and absolute coordinate in space coordinates of any point in other arbitrary base station coordinates systems in a base station is obtained, from
And being accurately positioned in large space can be realized.
Description of the drawings
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is Plane of rotation laser scanning angle-measuring method schematic diagram in the embodiment of the present invention；
Fig. 3 is the system architecture diagram of the embodiment of the present invention 2；
Fig. 4 is the system architecture diagram of the embodiment of the present invention 3.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Hereinafter implement
Example is not limited to the scope of the present invention for illustrating the present invention.
Embodiment 1
Fig. 1 shows a kind of many base station space-location methods, comprises the following steps：
S1, the relative position for measuring each two base station in space respectively.
Each base station is designed with each independent identification code ID, is identified by identification code ID between each base station and area
Point；Identification code can be the mark such as ultrasonic wave, sound wave, infrared light, visible ray, frequency of different frequency of transmitting, may also be right
The code word that it is modulated is arranged.The sphere of action of each base station can be the ball-type or fan-shaped, or irregular of rule
Shape, have overlap per two adjacent base station sphere of actions；
The method of test is various, the method that two kinds of tests are specifically described in the present embodiment.
The first method of testing：When the coordinate system direction of each base station differs, each base station can be by mutually sending letter
Number know position each other in space and inclination angle.Detailed process is：
Include positioning signal reception unit on each base station, by receiving the framing signal that other base stations send, meter
Calculation obtains itself coordinate relative to other base stations.
Include measurement of dip angle unit on each base station, its own inclination angle relative to earth coordinates can be measured.
When coordinate system in the space between each base station has inclination angle mutually, equipment to be positioned is two in space coordinates
Coordinate in individual base station is respectively (x1, y1, z1), (x2, y2, z2), and two base stations are distinguished relative to the inclination angle of earth coordinates
For (α1, β1, γ1) and (α2, β2, γ2), then can try to achieve one of base station with respect to another base station the anglec of rotation (α, β,
γ)=(α2-α1,β2-β1,γ2-γ1), then a base station can be asked relative to the coordinate (x0, y0, z0) of another base station by following formula
：
(x0,y0,z0)T=(x1,y1,z1)T- R (α, beta, gamma) * (x2,y2,z2)T
The method is used with this, you can obtain the position relationship per two neighboring base station.
Second method of testing：It is adjacent in each two by equipment to be positioned when the coordinate system direction of each base station is identical
The coordinate of base station is deriving the position of the two adjacent base stations.
Specifically step includes：
S11, coordinate of the same equipment to be positioned respectively in two neighboring base station coordinates system is measured respectively；
S12, the coordinate of any point in one of base station coordinates system is obtained by Coordinate Conversion to another base station coordinates
The transformational relation of system；
S13, tested point position are moved in space, and repeat step S11 to S12, are obtained in space per two neighboring seat
The relative position of mark system.
According to same equipment to be positioned relative to coordinate (x1, y1, z1), (x2, y2, z2) of two base stations, first is obtained
Base station and the relative position relation of the second base station.Because the direction unification of each base station coordinates system is arranged, between each base station coordinates system
It is translation relation, then the coordinate position that P2 base stations are obtained by translation calculation is relative to the coordinate position of P1 base stations：(x1-x2,
y1-y2,z1-z2)。
Measuring for device coordinate to be positioned can be by optics+ultrasonic wave mode in both test modes, it is also possible to logical
Cross the modes such as all-optical measurement, ultrasonic measurement or wireless signal measurement to realize；
In the present embodiment, seat of the equipment to be positioned in first base station coordinate system is measured using optics and ultrasonic wave jointly
Mark, step S11 is specifically included：
Equipment to be positioned is measured to the distance of the first base station P1 coordinate system origin of coordinates by ultrasonic ranging method；
By Plane of rotation laser scanning angle-measuring method, sky of the equipment to be positioned relative to first base station P1 coordinate system is measured
Between angle；
Space angle by equipment to be positioned in first base station P1 coordinate system and sit to first base station P1 coordinate system
The distance of mark origin, calculates coordinate of the tested point in first base station coordinate system.
In the present embodiment, as shown in Fig. 2 the Plane of rotation laser scanning angle-measuring method includes：
The first rotary laser plane around the x-axis rotation of base station coordinates system is set in base station, around the second rotation of y-axis rotation
Rotating laser plane, in device A to be positioned equipment to be positioned is arranged；Make equipment to be positioned and base station synchronization reference instant；
First rotary laser plane sends first laser planed signal with reference to moment t1 ' first around x-axis rotation；Second
Rotary laser plane sends second laser planed signal with reference to moment t2 ' second around y-axis rotation；
Equipment detection first laser planed signal to be positioned, second laser planed signal, and respectively record receives first
First moment t1 of laser plane signal, the second moment t2 for receiving second laser planed signal；
According to rotary speed w1 of the first rotary laser plane and the first moment with first with reference to the moment time difference t1-
T1 ', obtains angle [alpha]=(t1-t1 ') * w1 of the first rotary laser Plane Rotation；According to the rotation speed of the second rotary laser plane
Degree w2 and the second moment with second with reference to the moment time difference t2-t2 ', obtain the angle beta of the second rotary laser Plane Rotation=
(t2-t2’)*w2；The anglec of rotation of the first rotary laser plane is tested point A to the vertical line of x-axis and the folder of xoy planes
Angle, the anglec of rotation of the first rotary laser plane is device A to be positioned to the vertical line of y-axis and the angle β of xoy planes.
Coordinate (x1, y1, z1) of the equipment to be positioned relative to first base station P1 is obtained according to following computational methods：
x1Tan β=y1Tan α=z1
x1 2+y1 2+z1 2=L2
In formula, (x1, y1, z1) is coordinate of the device A to be positioned in first base station coordinate system, and L is arrived for equipment to be positioned
Base station coordinates system origin of coordinates distance；Upper solving equations are obtained with device A to be positioned in respective base station coordinate system
Coordinate value.
In the same manner, it is calculated coordinate (x2, y2, z2) of the equipment to be positioned relative to the second adjacent base station P2.
S2, space coordinates are set up, obtain coordinate of each base station in space coordinates in space.
Specifically, in the present embodiment in multiple base stations can divide into a dominant base and several from base station, with main base
Used as space coordinates, the coordinate relation of every two base station obtained according to S1 steps obtains other and exists from base station the coordinate system stood
The position of space coordinates.
If directly obtaining each from base station relative to the position of dominant base by S1 steps, then each is directly obtained from base
Stand the coordinate in space coordinates；Such as can not directly by S1 steps obtain each from base station relative to dominant base position,
For example, with P1 as dominant base, P2, P3 are, from base station, to can only obtain coordinate position and threeth base of the P2 base stations relative to P1 base stations
Stand coordinate positions of the P3 relative to P2 base stations, then it is relative relative to the coordinate position and the 3rd base station P3 of P1 base stations according to P2 base stations
In the coordinate position of P2 base stations, coordinate bit of the coordinate position relative to P1 base stations that further conversion is then obtained P3 base stations is carried out
Put.By that analogy, each coordinate from base station relative to dominant base in space coordinates is obtained.
S3, the coordinate in target in space certain base station coordinates system, in space arbitrary base station is sat to obtain target
Coordinate and the absolute coordinate in space coordinates in mark system.
When having inclination angle mutually between the coordinate system of each base station in space, then following methods are can use to determine undetermined
Position of the position equipment in large space.
If it is (x relative to the coordinate from base station P22,y2,z2), base station P2 relative to base station P1 coordinate for (x0, y0,
Z0), base station P1 and base station P2 is respectively (α relative to the inclination angle of earth coordinates1, β1, γ1) and (α2, β2, γ2), base station P2 phases
The anglec of rotation (α, beta, gamma)=(α for base station P12-α1, β2-β1, γ2-γ1), then the equipment to be positioned is relative to dominant base P1
Coordinate (x1,y1,z1) can be tried to achieve by below equation：
(x1,y1,z1)T=R (α, beta, gamma) * (x2,y2,z2)T+(x0,y0,z0)T
Wherein：
When the coordinate system direction of all base stations in space is unified, Coordinate Conversion and positioning are more quick.Specifically
, if coordinate of the equipment to be positioned in the coordinate system from base station P2 is (xA, yA, zA), then：Equipment to be positioned is in dominant base P1
Coordinate in coordinate system is：(xA+x1-x2,yA+y1-y2,zA+z1-z2).Can be by equipment to be positioned relative to arbitrary with this
It is individual from the coordinate transformation of base station be coordinate relative to dominant base P1, so as to realize the positioning in large space.
In use, by the mutual alignment between each base station, with equipment to be positioned wherein a base station
Position can obtain the position in position and whole space coordinates of the equipment to be positioned in any one base station, right so as to realize
Space orientation is extended, and realizes unified positioning of multiple targets in large space.
In in this enforcement, multiple equipment to be positioned can also be included, be capable of achieving it by said method is being with P1
The base station such as dominant base, P2, P3 is the positioning from the large space of base station, by by each equipment to be positioned determining in the large space
Position information transfer to terminal, such as during VR plays, you can realize many people's large space interactive games.
Embodiment 2
Fig. 3 shows many base station space positioning systems of the present invention, including：At least two positioning in space coordinates
Base station and at least one equipment to be positioned；The locating base station is used to send framing signal, and the locating base station is in space
Signal coverage areas are overlapped and incomplete coincidence；The equipment to be positioned is used to receive above-mentioned at least one locating base station
The framing signal sent, and the method in above-described embodiment 1 carries out space orientation.
Specifically, as shown in figure 3, the front and back in space respectively has a locating base station, each locating base station has one
Individual base station coordinates system, locating base station sends framing signal, such as ultrasonic signal and laser signal into space.It is assumed that being located at front
The locating base station of side is dominant base, then, as space coordinates, dominant base is to space rear for the coordinate system with the locating base station in front
Send the framing signal in the range of about 120 degree.The locating base station being located behind is, from base station, to space front about 120 degree to be sent
In the range of framing signal, in front and back the signal of locating base station is overlapped but incomplete coincidence.Equipment to be positioned is located in space,
Dominant base can be determined using the localization method of embodiment one and the position from base station.When equipment to be positioned is located at the signal of dominant base
During the area of coverage, the position in the base station coordinates system of dominant base of equipment to be positioned can be directly obtained and in space coordinates
Position；When signal coverage positioned at from base station to be positioned, it is obtained in the position from the coordinate system of base station, and converts
It is the coordinate position in the coordinate system relative to dominant base, i.e. space coordinates.
Embodiment 3
As shown in figure 4, there is a locating base station in front of space, there are two locating base stations, each locating base station in rear
There is a base station coordinates system, three base stations to interior volume sends framing signal, such as ultrasonic signal and laser signal.It is assumed that
Locating base station positioned at front is dominant base, then the coordinate system with the locating base station in front is as space coordinates, to space rear
The framing signal in the range of about 120 degree is sent, two for being located behind locating base station is, from base station, to place into certain inclination angle, to
Space front sends the framing signal in the range of about 120 degree, and the signal of three locating base stations is overlapped but incomplete coincidence.Treat
Location equipment is located in space, can determine dominant base using the localization method of embodiment one and the position from base station.When to be positioned
When equipment is located at the signal coverage of dominant base, position of the equipment to be positioned in the base station coordinates system of dominant base can be directly obtained
With the position in space coordinates；When signal coverage positioned at from base station to be positioned, it is obtained relative to from base station
Coordinate position, and the coordinate position being converted into the coordinate system relative to dominant base, i.e. space coordinates.
Above example 2 and embodiment 3 only explain technical scheme, rather than limitation of the present invention,
When being embodied as, 4 locating base stations, 5 locating base stations etc. are can also be, placement location of the locating base station in space can also
It is other modes, dominant base and the setting from base station can also be other modes, as long as can realize that the invention of the present invention is intended to be
Can.
The application proposes a kind of many base station space-location methods, by setting up base station coordinates to each base station in space
System, and sets up space coordinates to whole space, by the relative position in space between each base station for calculating, and then can be with
Coordinate and absolute coordinate in space coordinates of any point in other arbitrary base station coordinates systems in a base station is obtained, can
In being applied to space navigation and information transfer, find and select nearest base station to carry out data transmission in transmission data.
Many base station space positioning systems that the application is proposed, by the setting of many base stations, make the mobile model of equipment to be positioned
Enclose bigger, and solve when part equipment to be positioned is used can only towards base station, once turn round or have the situation of barrier
Under, cannot just obtain the problem of framing signal.And many base station space positioning systems of the application can be additionally used in Multi-target position, obtain
After obtaining the absolute coordinate of each equipment to be positioned, then it is transferred in external equipment, such as VR equipment, unmanned machine equipment, you can
To the multiobject positioning of large space.
Finally, the present processes are only preferably embodiment, are not intended to limit protection scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of many base station space-location methods, it is characterised in that comprise the following steps：
S1, the relative position for measuring each two base station in space respectively；
S2, space coordinates are set up, obtain coordinate of each base station in space coordinates in space；
S3, the coordinate in equipment to be positioned in space certain base station coordinates system, obtain equipment to be positioned and appoint in space
Coordinate and the absolute coordinate in space coordinates in one base station coordinates system.
2. many base station space-location methods according to claim 1, it is characterised in that step S1 is specifically included：
S11, coordinate of the same equipment to be positioned respectively in two neighboring base station coordinates system is measured respectively；
S12, one of base station coordinates system and the transformational relation of another base station coordinates system are obtained by Coordinate Conversion；
S13, repeat step S11 to S12, obtain the relative position per two neighboring coordinate system in space.
3. many base station space-location methods according to claim 2, it is characterised in that multiple locating base stations in the space
The each direction of principal axis of corresponding base station coordinates system is identical, and by translation calculation the relative position of each two base station coordinates system in space is obtained
Put.
4. many base station space-location methods according to claim 1, it is characterised in that in the space between each base station
Coordinate system when having inclination angle mutually, coordinate of the equipment to be positioned in two base stations is respectively (x in space coordinates1,y1,z1)、
(x2,y2,z2), two base stations are respectively (α relative to the inclination angle of earth coordinates1, β1, γ1) and (α2, β2, γ2), then can try to achieve
The anglec of rotation (α, β, γ)=(α of one of base station relative to another base station2-α1,β2-β1,γ2-γ1), then one
Coordinate (x of the base station relative to another base station0,y0,z0) can be tried to achieve by following formula：
(x0,y0,z0)T=(x1,y1,z1)T- R (α, beta, gamma) * (x2,y2,z2)T
5. many base station space-location methods according to claim 2 or 4, it is characterised in that it is described measure it is same to be positioned
Seat calibration method of the equipment in two neighboring base station coordinates system is specifically included：
Tested point is measured to the distance of the base station coordinates system origin of coordinates by ultrasonic ranging method；
By Plane of rotation laser scanning angle-measuring method, measure respectively tested point with base station coordinates system two reference axis it is vertical
Line constitutes the angle of plane with two reference axis；
Calculate coordinate of the tested point in base station coordinates system.
6. many base station space-location methods according to claim 1, it is characterised in that in step S2, with space
One of base station is the origin of coordinates, sets up space coordinates, and the space coordinates overlap with the base station coordinates system.
7. a kind of many base station space positioning systems, it is characterised in that be used to send the positioning base of framing signal including at least two
The equipment to be positioned stood with least one reception framing signal, described each locating base station is designed with base station coordinates system, the sky
Interior to be provided with space coordinates, at least two locating base station signal coverage areas in space are overlapped and incomplete
Overlap.
8. many base station space positioning systems according to claim 7, it is characterised in that the locating base station includes two,
Respectively positioned at the front and back in space, framing signal is relative to be sent described two locating base stations, signal coverage areas phase mutual respect
Folded and not exclusively coincidence.
9. many base station space positioning systems according to claim 7, it is characterised in that the locating base station includes three,
Two are located at space front positioned at space rear, one in three locating base stations, or two are located at space front, a position
In space rear；The framing signal of three base stations is relative to be sent, and signal covers that space is overlapped and incomplete coincidence.
10. many base station space positioning systems according to claim 7, it is characterised in that at least two locating base station,
One of locating base station is dominant base, and remaining locating base station is, from base station, to be sat as space using the base station coordinates system of dominant base
Mark system.
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