CN108474859B - Positioning system and its building method - Google Patents
Positioning system and its building method Download PDFInfo
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- CN108474859B CN108474859B CN201780005576.9A CN201780005576A CN108474859B CN 108474859 B CN108474859 B CN 108474859B CN 201780005576 A CN201780005576 A CN 201780005576A CN 108474859 B CN108474859 B CN 108474859B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
A kind of positioning system and its building method, the positioning system includes: base station (200) and the positioning device (300) being movably arranged, base station at least four, the position of any three base stations (200) is not conllinear at least four base stations；Each base station (200) can obtain its first distance information between other base stations (200)；Positioning device (300) is arranged at least two calibration positions, can obtain each calibration position and wherein the second distance information between any three base stations (200)；Relative coordinate system is established in base station (200), and according to the absolute coordinate of second distance information and each calibration position under preset fixed coordinate system between first distance information, each calibration position and any three base stations (200) between each base station (200), the transformation parameter between relative coordinate system and fixed coordinate system is calculated.By obtaining the absolute coordinate of multiple calibration positions for being easy to measure absolute coordinate, simplifies and set up process, so as to shorten the time is set up.
Description
Technical field
The present invention relates to positioning system field more particularly to a kind of positioning system and its building methods.
Background technique
GPS (Global Positioning System, global positioning system) is the location technology of current mainstream, is
In conjunction with satellite and the navigation system of wireless technology, accurate positioning is provided for user.User is in the area that can receive satellite-signal
Domain easily can obtain location information using GPS.But indoors in environment, may blocking due to building, lead to GPS
The reception of signal is bad, thus can not be positioned using GPS, thus dedicated indoor locating system derives.Indoor positioning system
System is a kind of in building or in intensive industry area object or person to be carried out with the network of the equipment of wireless location.
The actual use scene of indoor locating system is complicated.For example, needing in robot match by competition area
Multiple base stations are set, and measure the coordinate of each base station in advance, to detect the coordinate of match robot by base station.And it competes
The coordinate that the complexity in place may cause each base station is not easy to measure or measure to need to expend more manpower and time, cannot
Meets the needs of positioning system fast construction.
Summary of the invention
The present invention provides a kind of positioning system and its building method.
According to the first aspect of the invention, a kind of building method of positioning system is provided, which comprises
Obtain in current region at least two relative coordinates of the calibration positions under relative coordinate system and its preset solid
Absolute coordinate under position fixing system, calibration location interval setting described in wherein at least two；
Based on the relative coordinates and absolute coordinate of at least two calibration positions, the relative coordinate system and described is calculated
Transformation parameter between fixed coordinate system.
According to the second aspect of the invention, a kind of computer readable storage medium is provided, computer program is stored thereon with,
The program performs the steps of when being executed by processor
Obtain in current region at least two relative coordinates of the calibration positions under relative coordinate system and its preset solid
Absolute coordinate under position fixing system, calibration location interval setting described in wherein at least two；
Based on the relative coordinates and absolute coordinate of at least two calibration positions, the relative coordinate system and described is calculated
Transformation parameter between fixed coordinate system.
According to the third aspect of the invention we, a kind of positioning system, including one or more processors are provided, individually or altogether
It works together, the processor is configured to:
Obtain in current region at least two relative coordinates of the calibration positions under relative coordinate system and its preset solid
Absolute coordinate under position fixing system, calibration location interval setting described in wherein at least two；
Based on the relative coordinates and absolute coordinate of at least two calibration positions, the relative coordinate system and described is calculated
Transformation parameter between fixed coordinate system.
According to the fourth aspect of the invention, a kind of positioning system is provided, including base station and the positioning device being movably arranged,
The base station at least four, the position of any three base stations is not conllinear at least four base stations；
Each base station can obtain its first distance information between other base stations；
The positioning device is arranged at least two calibration positions, can obtain each calibration position and wherein any three
Second distance information between base station；
Relative coordinate system is established in the base station, and according between each base station first distance information, each calibration position with appoint
The absolute coordinate of second distance information and each calibration position under preset fixed coordinate system anticipated between three base stations, calculates
Transformation parameter between the relative coordinate system and the fixed coordinate system.
By the above technical solution provided in an embodiment of the present invention as it can be seen that the present invention is easy to measure absolute seat by the way that acquisition is multiple
Target demarcates the absolute coordinate of position, substitutes the existing absolute coordinate for directly measuring base station, not only simplifies positioning system
It sets up process to improve efficiency so as to shorten the erection time of positioning system, also extends the usage scenario of positioning system, it can
Building for positioning system is carried out under complex environment.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the structure layout diagram of the positioning system in one embodiment of the invention；
Fig. 2 is the flow chart of the building method of the positioning system in one embodiment of the invention；
Fig. 3 is the flow chart of the building method of the positioning system in another embodiment of the present invention；
Fig. 4 is the structural block diagram of the base station in one embodiment of the invention；
Fig. 5 is the perspective view of the base station in one embodiment of the invention；
Fig. 6 is the perspective view of base station in another direction in one embodiment of the invention；
Fig. 7 is the structural block diagram of the positioning device in one embodiment of the invention；
Fig. 8 is the perspective view of the positioning device in one embodiment of the invention.
Appended drawing reference:
Xyz: relative coordinate system；XYZ: fixed coordinate system；
10: the first specific positions；11: the second specific positions；13: third specific position；14: the four specific positions；
21: the first calibration positions；22: the second calibration positions；
200: base station；201: first processor；202: the first indicator lights；203: the second indicator lights；204: the one USB connect
Mouthful；
300: positioning device；301: second processor；302: third indicator light；303: the four indicator lights；304: bus connects
Mouthful；305: secondary USB interface.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
With reference to the accompanying drawing, positioning system and its building method of the invention are described in detail.In the feelings not conflicted
Under condition, the feature in following embodiment and embodiment be can be combined with each other.
Referring to Fig. 1, a kind of positioning system provided in an embodiment of the present invention, it may include multiple base stations 200 used for positioning need
Absolute coordinate of the base station 200 at fixed coordinate system XYZ is obtained ahead of time, then target to be detected is obtained solid by base station 200
Absolute coordinate under position fixing system XYZ.Under normal circumstances, the position of base station 200 needs to place on location, thus comprehensively
Current region is covered to be positioned better by base station 200.The application scenarios of base station 200 may be complex, is placed on
Absolute coordinate of the base station 200 of designated position at fixed coordinate system XYZ may be not easy to measure or measure it is time-consuming and laborious, therefore
Need to design a kind of mode for building positioning system easy to use.
Wherein, the coordinate system that fixed coordinate system XYZ can determine for user, for example, (such as with one of angle of current region
Any angle in four, room angle) as coordinate system determined by benchmark.It, can be by fixed coordinates in configuring higher system
It is that XYZ upgrades to the world coordinate system determined by GPS.
Embodiment one
Fig. 2 is a kind of flow chart of the building method of positioning system of the embodiment of the present invention.Referring to fig. 2, the method can
The following steps are included:
Step S201: obtain in current region at least two relative coordinates of the calibration positions at relative coordinate system xyz and
Its absolute coordinate at preset fixed coordinate system XYZ, calibration location interval setting described in wherein at least two；
In the present embodiment, current region refers to room area to be positioned, can be robot competition area, can also be it
His room area to be positioned.
The quantity of calibration position can select as needed, for example, calibration position may be selected to be two, or more than two.
In the present embodiment, calibration position is two, to reduce calculation amount, accelerates the speed that positioning system is set up.Certainly, in other realities
Apply in example, calibration position is alternatively chosn to three or more, can by the calibration positions of multiple quantity to the result of calculating into
Row verifying, it is ensured that the accuracy that positioning system is built.
Wherein, relative coordinate system xyz is to establish according in current region for placing the specific position of base station 200, is had
For body, at least two calibration positions are also wrapped before the relative coordinate under relative coordinate system xyz in the acquisition current region
It includes: obtaining the first distance information in current region at least four specific positions between every two specific position, and according to extremely
Few four specific positions, establish relative coordinate system xyz.According to the first distance information and the relative coordinate system xyz,
Calculate relative coordinate of at least four specific positions at the relative coordinate system xyz.Wherein, at least four is described specific
In position any three it is not conllinear.Each calibration position and each specific position interval are arranged, i.e. calibration position and any specific
Position is not overlapped, so as to realize the meter of the relative coordinate to calibration position under relative coordinate system quickly through the positioning of three sides
It calculates, further increases the efficiency that positioning system is built.
It should be noted that " obtaining in current region at least four specific positions the between every two specific position
One range information " and " according at least four specific positions, sequence can be executed to be successive by establishing relative coordinate system xyz ",
Execution can also be synchronized.
Specific position can also be set according to competition area size and location requirement etc., for example, specific position may be selected to be four
It is a or four or more.In the present embodiment, specific position is four, and any three are not overlapped in four specific positions, so as to
Opposite seat of four specific positions at relative coordinate system xyz is calculated according to the first distance information between four specific positions
Mark, in order to calculate relative coordinate of the calibration position at relative coordinate system xyz.
The mode for establishing relative coordinate system xyz can be set as needed, for example, in one embodiment, the basis
At least four specific positions, establishing relative coordinate system xyz includes: to set one of specific position as origin, and set
The vector formed as the specific position of origin and another specific position is used as a wherein reference axis, establishes relative coordinate system xyz.
Certainly, the mode for establishing relative coordinate system xyz is without being limited thereto, for example, it is also possible to set at least four specific positions
The middle part of any two specific position line is origin, and sets any two specific position line as a wherein coordinate
Axis establishes relative coordinate system xyz.
Optionally, the relative coordinate system xyz is three-dimensional cartesian coordinate system.For example, with reference to Fig. 1, the first certain bits are set
Setting 10 is origin, using the first specific position 10 and the vector of the second specific position 11 formation as x-axis, and it is straight to establish right-handed Cartesian
Angular coordinate system.Certainly, the relative coordinate system xyz is also not necessarily limited to three-dimensional cartesian coordinate system, can also select as needed dimension for
Rectangular coordinate system or other non-orthogonal coordinate systems two-dimentional or more than three-dimensional.The present embodiment selects three-dimensional cartesian coordinate system,
The space coordinate that position to be detected (such as match robot) can be obtained, positions more intuitive.
Step S202: relative coordinate and absolute coordinate based on at least two calibration positions calculate the opposite seat
Transformation parameter between mark system xyz and the fixed coordinate system XYZ.
After executing the step S201 and step S202, relative coordinate of the position to be detected in relative coordinate system xyz is obtained,
Relative position of the position to be detected in relative coordinate system xyz can be converted into it in fixed coordinate system according to transformation parameter
Absolute coordinate under XYZ, unified localization criteria, identifies convenient for user.
In the present embodiment, the transformation parameter includes: that the relative coordinate system xyz is converted to the fixed coordinate system XYZ
Spin matrix and translation vector, to the relative coordinate under relative coordinate system xyz is converted into exhausted under fixed coordinate system XYZ
To coordinate, the localization criteria of unified current region.
In the embodiment of the present invention, by obtaining the absolute coordinate of multiple calibration positions for being easy to measure absolute coordinate, substitution
The existing absolute coordinate for directly measuring base station 200, not only simplifies the erection process of positioning system, so as to shorten positioning system
The erection time, improve efficiency, also extend the usage scenario of positioning system, can be positioned under complex environment
System is built.
Further, in step s 201, in the acquisition current region at least two calibration positions in relative coordinate system
Relative coordinate under xyz, it may include: firstly, obtaining any three in each calibration position and at least four specific positions
Second distance information between a specific position.Then, according to the second distance information and any three specific positions
Relative coordinate, calculate each relative coordinate of the calibration position at the relative coordinate system xyz.The present embodiment passes through three Bian Ding
Position principle calculates relative coordinate of at least two calibration positions at relative coordinate system xyz, and calculating process is simple, is easy to real
It is existing.
In the present embodiment, the calibration position is equipped with positioning device 300.Optionally, the quantity and mark of positioning device 300
It is identical to position the quantity set, and positioning device 300 is placed on corresponding calibration position.Optionally, positioning device 300 is one
It is a, it is removable to be placed on each calibration position, for example, opposite at relative coordinate system xyz having demarcated current calibration position
After coordinate, it is moved to next calibration position, alternatively, be placed in defined time range on specified calibration position, thus
Complete the calibration of the relative coordinate to each calibration position at relative coordinate system xyz.
Further, it is described obtain it is each calibration position and at least four specific positions in any three specific positions it
Between second distance information, it may include: obtain that the positioning device 300 obtains on currently calibration position its with it is described any
Second distance information between three specific positions.Wherein, the mode of 300 ranging of positioning device can be a variety of, for example, wherein
In one embodiment, positioning device 300 can the ranging by way of induction, to obtain it in currently calibration position and described any
Second distance information between three specific positions.In another embodiment, positioning device 300 can pass through mode measured directly
Ranging, to obtain it in the second distance information currently between calibration position and any three specific positions.The present invention
The mode of 300 ranging of positioning device is not construed as limiting.
In addition, each specific position is equipped with base station 200.In the present embodiment, the quantity of base station 200 and the number of specific position
Measure identical, base station 200 is placed on corresponding specific position, so as to be positioned by multiple base stations 200 to current region.
First distance information in the acquisition current region at least four specific positions between every two specific position, it may include:
Receive its first distance information between other base stations 200 obtained that each base station 200 is sent.Correspondingly, 200 ranging of base station
Mode can be a variety of, for example, in one embodiment, base station 200 can the ranging by way of induction, thus obtain its with
First distance information between other base stations 200.In another embodiment, mode ranging measured directly can be used in base station 200,
To obtain its first distance information between other base stations 200.
For example, in one embodiment, in conjunction with Fig. 1 and Fig. 3, demarcating position includes the first calibration position 21 and the second mark
Positioning sets 22, and specific position includes the first specific position 10, the second specific position 11, third specific position 13 and the 4th certain bits
14 are set, wherein the first specific position 10, the second specific position 11, third specific position 13 and the 4th specific position 14 are working as proparea
The height in domain is identical.
Setting the first specific position 10 is origin, is made with the vector that the first specific position 10 and the second specific position 11 are formed
For x-axis, right-handed Cartesian rectangular coordinate system is established, which is relative coordinate system xyz.
Wherein, the first specific position 10, the second specific position 11, third specific position 13 and the 4th specific position 14 are in phase
It is respectively (x to the relative coordinate under coordinate system xyz10、y10、z10)、(x11、y11、z11)、(x12、y12、z12) and (x13、y13、
z13), wherein x10=y10=z10=y11=z11=z12=z13=0.First specific position 10 and the second specific position 11, third
First distance information between specific position 13, the 4th specific position 14 is respectively d10-11、d10-12、d10-13, the second specific position
First distance information between 11 and third specific position 13, the 4th specific position 14 is respectively d11-12、d11-13, third is specific
First distance information between position 13 and the 4th specific position 14 is d12-13, x11=d10-11, then first can be calculated according to the following formula
Specific position 10, the second specific position 11, the phase of third specific position 13 and the 4th specific position 14 at relative coordinate system xyz
To coordinate:
The second specific position 11, third specific position 13 and the 4th specific position 14 can be calculated according to formula (1) to exist
Relative coordinate under relative coordinate system xyz.
First calibration position 21 and the second specific position 11, third specific position 13, the between the 4th specific position 14
Two range informations are respectively d21-11、d21-12、d21-13, second demarcates position 22 and the second specific position 11, third specific position
13, the distance between the 4th specific position 14 is respectively d22-11、d22-12、d22-13.Assuming that the first calibration position 21 is in relative coordinate
It is relative coordinate under xyz is (x21、y21、z21), the second relative coordinate of the calibration position 22 at relative coordinate system xyz be
(x22、y22、z22), then the first calibration position 21 and the second calibration position 22 are calculated in relative coordinate system by three side positioning principles
The calculation formula difference of relative coordinate under xyz is as follows:
Relative coordinate of the first calibration position 21 at relative coordinate system xyz can be calculated according to formula (2), according to public affairs
Formula (3) can calculate relative coordinate of the second calibration position 22 at relative coordinate system xyz.
It also includes a variety of for demarcating the acquisition modes of absolute coordinate of the position at fixed coordinate system XYZ, for example, wherein one
It is described to obtain absolute coordinate of at least two calibration positions at preset fixed coordinate system XYZ in current region in embodiment,
Can include: obtain absolute coordinate of the positioning device 300 at the fixed coordinate system XYZ on the current calibration position measured.
For example, absolute coordinate of the current calibration position at the fixed coordinate system XYZ can directly be measured by positioning device 300.It can
Selection of land, the fixed coordinate system are world coordinate system, and the positioning device 300 can be based on GPS, wifi (WIreless-
Fidelity, wireless network) etc. absolute coordinate of the current calibration position of positioning methods measurement under world coordinate system.
In another embodiment, the position of the absolute coordinate in current region under known fixed coordinate system XYZ also may be selected
As target position, at least two calibration positions are absolute at preset fixed coordinate system XYZ in the acquisition current region
Before coordinate, comprising: receive user instructions, the user instruction carries each calibration position at the fixed coordinate system XYZ
Absolute coordinate.Select the position of known absolute coordinate in current region to demarcate position, user directly inputs corresponding position and exists
Absolute coordinate under fixed coordinate system XYZ can be obtained the absolute coordinate of calibration position, so as to pass through the opposite of calibration position
Coordinate and absolute coordinate calculate the transformation parameter between relative coordinate system xyz and fixed coordinate system XYZ, so that positioning system
The selection of the position of base station 200 is more flexible in system, and the setting position of base station 200 is not necessarily to the constraint by space enrironment condition.
Further, in practical application scene, the calculating relative coordinate system xyz and the fixed coordinate system
After transformation parameter between XYZ, it may also include that the relative coordinate for obtaining current location at the relative coordinate system xyz, root
According to the relative coordinate and the transformation parameter of current location, the current location is calculated at the fixed coordinate system XYZ
Absolute coordinate.Wherein, current location is the real time position of target to be detected (such as match robot).Obtaining relative coordinate system
After transformation parameter between xyz and fixed coordinate system XYZ, according to relative coordinate of the current location at relative coordinate system xyz, i.e.,
Absolute coordinate of the current location at fixed coordinate system XYZ can be conveniently and efficiently obtained, to use unified fixed coordinate system
XYZ realizes that the positioning to current region, building for positioning system are simple, quick.
Specifically, the relative coordinate and the transformation parameter according to current location, calculates the current location
Absolute coordinate at the fixed coordinate system XYZ, it may include: firstly, according to the transformation parameter and at least four spies
The relative coordinate set is positioned, absolute coordinate of each specific position at the fixed coordinate system XYZ is calculated.Then, according to working as
The absolute coordinate of the relative coordinate of front position, any particular location, calculates the current location at the fixed coordinate system XYZ
Absolute coordinate.To the absolute coordinate by target to be detected at fixed coordinate system XYZ, user is facilitated to identify.
Relative coordinate of the current location at relative coordinate system xyz can be calculated by three side positioning principles or other modes
It obtains.In one embodiment, relative coordinate of the current location at relative coordinate system xyz is by three side positioning principle meters
Calculate acquisition, the relative coordinate for obtaining current location at the relative coordinate system xyz, it may include: obtain current location
With the third range information between any three specific positions at least four specific positions, according to the third distance
The relative coordinate of information and any three specific positions, it is opposite at relative coordinate system xyz to calculate the current location
Coordinate.Wherein, calculated using three side positioning principles obtain the process of relative coordinate of the current location at relative coordinate system xyz with
It is opposite at relative coordinate system xyz that the first calibration of acquisition position 21, second calibration position 22 is calculated using three side positioning principles
The process of coordinate is identical, and therefore not to repeat here.In the present embodiment, positioning device 300 can be set in target to be detected, thus logical
Cross the third distance letter between the current location of 300 real-time detection of positioning device target to be detected and any three specific positions
Breath.
In another embodiment, the relative coordinate for obtaining current location at the relative coordinate system xyz, can wrap
It includes: obtaining current location in each reference axis of relative coordinate system xyz with respect to the 4th range information of any particular location,
According to the relative coordinate of the 4th range information and any particular location, the current location is calculated in relative coordinate
It is the relative coordinate under xyz.Current location can be obtained in each axis (x of relative coordinate system xyz by the modes such as directly measuring
Axis, y-axis and z-axis) on respect to a wherein specific position the 4th range information.Since specific position is at relative coordinate system xyz
Relative coordinate according to formula (1) calculate obtain, in conjunction with the 4th range information, can be obtained current location in relative coordinate
It is the relative coordinate under xyz.
In addition, the relative coordinate and the transformation parameter according to current location, calculates the current location in institute
After stating the absolute coordinate under fixed coordinate system XYZ, it may also include that absolute coordinate to the display for sending the current location is set
It is standby, the absolute coordinate of current location can be shown in time by display equipment, so that user more intuitively obtains present bit
The location information set.Wherein, display equipment can be the smart machines such as the mobile phone for being equipped with APP (application software), tablet computer.
It should be noted that the executing subject of the building method of positioning system of the invention can be at least four base stations 200
Any of, it can also be positioning device 300, can also be the control equipment being independently arranged, such as server.
The positioning system can be uwb positioning system (Ultra Wideband, a kind of no-load communication techniques, using receiving
Second transmit data to the non-sinusoidal waveform burst pulse of picosecond grade), the indoor positionings such as bluetooth positioning system or wifi positioning system
System.
The building method of positioning system corresponding to embodiment one, embodiment two provide a kind of positioning system.
Embodiment two
The embodiment of the present invention also provides a kind of positioning system, and the positioning system may include one or more processors, single
It solely or jointly works, the processor is used to execute the building method of the positioning system of above-described embodiment one.
Reference can be made to embodiment explains embodiment two, details are not described herein.
Embodiment three will be specifically described the structure of the positioning system.
Embodiment three
Referring to Fig. 1, the embodiment of the present invention also provides a kind of positioning system, which may include base station 200 and removable
The positioning device 300 of dynamic setting.Wherein, the base station 200 includes at least four, any three at least four base stations 200
The position of a base station 200 is not conllinear.
Each base station 200 can obtain its first distance information between other base stations 200.The side of 200 ranging of base station
Formula can be a variety of, for example, in one embodiment, base station 200 can the ranging by way of induction, to obtain itself and other
First distance information between base station 200.In another embodiment, mode ranging measured directly can be used in base station 200, thus
Obtain its first distance information between other base stations 200.
The positioning device 300 is arranged at least two calibration positions, can obtain each calibration position with it is wherein any
Second distance information between three base stations 200.Wherein, the mode of 300 ranging of positioning device can be a variety of, for example, wherein
In one embodiment, positioning device 300 can the ranging by way of induction, to obtain it in currently calibration position and described any
Second distance information between three specific positions.In another embodiment, positioning device 300 can pass through mode measured directly
Ranging, to obtain it in the second distance information currently between calibration position and any three specific positions.The present invention
The mode of 300 ranging of positioning device is not construed as limiting.
After having laid base station 200 and positioning device 300, building for positioning system can be realized by distinct device, for example,
In one embodiment, relative coordinate system xyz is established in the base station 200, and is believed according to the first distance between each base station 200
Breath, respectively the second distance information between calibration position and any three base stations 200 and each calibration position are in preset fixed seat
Absolute coordinate under mark system XYZ calculates the transformation parameter between the relative coordinate system xyz and the fixed coordinate system.
In another embodiment, base station 200 and positioning device 300 are connect with server communication, and the server establishes phase
To coordinate system xyz, and according between first distance information, each calibration position and any three base stations 200 between each base station 200
Absolute coordinate at preset fixed coordinate system XYZ of second distance information and each calibration position, calculate described opposite sit
Transformation parameter between mark system xyz and the fixed coordinate system.
Certainly, it can also complete to build positioning system by positioning device 300, positioning device 300 establishes relative coordinate
It is xyz, and according to second between first distance information, each calibration position and any three base stations 200 between each base station 200
The absolute coordinate of range information and each calibration position at preset fixed coordinate system XYZ, calculates the relative coordinate system xyz
Transformation parameter between the fixed coordinate system.
Wherein, the transformation parameter between the relative coordinate system xyz and the fixed coordinate system is calculated.It can be found in above-mentioned reality
The building method of the positioning system of example one is applied, details are not described herein.
In the embodiment of the present invention, by measuring the absolute coordinate of multiple calibration positions for being easy to measure, substitute existing straight
Connect measurement base station 200 absolute coordinate, not only simplify the erection process of positioning system, so as to shorten positioning system erection when
Between, it improves efficiency, also extends the usage scenario of positioning system, taking for positioning system can be carried out under complex environment
It builds.It is calculated between relative coordinate system xyz and fixed coordinate system XYZ by obtaining relative coordinate and the absolute coordinate of calibration position
Transformation parameter so that the selection of the position of base station 200 is more flexible in positioning system, the setting position of base station 200 without
It need to be by the constraint of space enrironment condition.
In the present embodiment, the transformation parameter includes: that the relative coordinate system xyz is converted to the fixed coordinate system XYZ
Spin matrix and translation vector, so that the localization criteria of unified current region, identifies convenient for user.
In one embodiment, at least four base stations 200 are located at same level height, are further simplified positioning system
Process is set up, to accelerate building for positioning system.
The quantity of base station 200 can be selected according to the actual situation, for example, can be according to current region (area i.e. to be positioned
Domain) shape and size select, to better and more comprehensively cover current region.For example, in one embodiment, currently
Region is quadrangle, and base station 200 may be selected to be four, and four base stations 200 are separately positioned on four sides of current region, is realized
Comprehensive covering to current region.Any three base stations are not conllinear in four base stations 200, so as to calculate each base by triangle
The relative coordinate stood under relative coordinate system.
In another embodiment, current region is irregular shape, and base station 200 may be selected four or more, thus more preferably
More fully cover current region.
In conjunction with Fig. 4, Fig. 5 and Fig. 6, the base station 200 may include first processor 201 and the first indicator light 202.Its
In, first indicator light 202 is electrically connected with the first processor 201, so as to pass through the control of first processor 201 first
The display state of indicator light 202.First indicator light 202 is used to indicate the ID state of the base station 200.The ID of base station 200
State may include the ID (identity number) that base station 200ID obtains failure and current base station 200.In the present embodiment, it can pass through
The luminescent color of first indicator light 202 distinguishes the ID state of base station 200, can also pass through the luminous duration of the first indicator light 202
The ID state of base station 200 is distinguished, can also distinguish the ID state of base station 200 by the flashing state of the first indicator light 202,
Alternatively, distinguishing base by the combination of at least the two in the luminescent color of the first indicator light 202, the duration and flashing state of shining
Stand 200 ID state.It is of course also possible to distinguish the ID state of base station 200 by other means.
The base station 200 may also include the second indicator light 203.Second indicator light 203 and the first processor 201
Electrical connection, so as to can control the display state of the second indicator light 203 by first processor 201.Second indicator light 203
It is used to indicate the working condition of the base station 200.The working condition of base station 200 may include fail self-test, positioning failure, base station
200 communicate successfully etc. with 300 communication failure of positioning device and base station 200 with positioning device 300.In the present embodiment, can be passed through
The luminescent color of two indicator lights 203 distinguishes the working condition of base station 200, can also pass through the luminous duration of the second indicator light 203
The working condition of base station 200 is distinguished, can also distinguish the work of base station 200 by the flashing state of the second indicator light 203
State, alternatively, by the combination both at least in the luminescent color of the second indicator light 203, the duration and flashing state of shining come
Distinguish the working condition of base station 200.It is of course also possible to distinguish the working condition of base station 200 by other means.
Table 1 is the display state of the first indicator light 202 and the second indicator light 203 and ID state, the working condition of base station 200
Relation table.
Table 1
It should be noted that first processor 201 detects the quantity of other base stations 200 less than preset quantity in table 1
(such as 3) then control 203 red light of the second indicator light and are always on, and showing currently to record can not carry out with required amount of base station 200
Positioning.
If 200 fail self-test of base station can be overcome by way of restarting base station 200.If repeatedly restarting base station 200 still
The problem of so not can solve 200 fail self-test of base station, then current base station 200 may be damaged, and need to replace in time.
Further, the base station 200 may also include the first communication interface.At first communication interface and described first
It manages device 201 to be electrically connected, so as to pass through the first communication interface and external equipment (such as external power supply, server etc.) communication link
It connects, realization mutually passes the power supply of base station 200 and data.Optionally, first communication interface is used to connect external power supply, from
And realize the power supply to base station 200.Optionally, first communication interface is for connecting server, thus realize base station 200 with
The mutual biography of data is realized in communication connection between server.For example, base station 200 can obtain upgrading letter by the first communication interface
Breath realizes the firmware upgrade operation to base station 200, and parameter can also be sent by server to base station 200, completes setting for parameter
It sets, the data of real-time detection can also be sent to server by base station 200, in order to the further analysis and processing on backstage.Institute
Stating the first communication interface is the first USB interface 204 or other kinds of communication interface, and this is not limited by the present invention.
The positioning system may also include fixing piece, and the base station 200 is installed by the fixing piece to fixed equipment,
To realize the fixation to base station 200, position inaccurate caused by preventing base station 200 from shaking.Optionally, the fixing piece is solid
Clamp.Certainly, the fixing piece also may be selected to be the fasteners such as screw.
In conjunction with Fig. 7 and Fig. 8, the positioning device 300 may include second processor 301 and with third indicator light 302.Its
In, the electrical connection of second processor 301 described in the third indicator light 302 refers to so as to control third by second processor 301
Show the display state of lamp 302.The third indicator light 302 is used to indicate the ID state of the positioning device 300.Positioning device
300 ID state may include the ID that positioning device 300ID obtains failure and current positioning device 300.In the present embodiment, it can lead to
The luminescent color of third indicator light 302 is crossed to distinguish the ID state of positioning device 300, can also pass through the hair of third indicator light 302
The light time long ID state to distinguish positioning device 300, can also be set by the flashing state of third indicator light 302 to distinguish positioning
Standby 300 ID state, alternatively, passing through at least the two in the luminescent color of third indicator light 302, the duration and flashing state of shining
Combination distinguish the ID state of positioning device 300.It is of course also possible to distinguish the ID of positioning device 300 by other means
State.
The positioning device 300 may also include the 4th indicator light 303.4th indicator light 303 and the second processing
Device 301 is electrically connected, so as to control the display state of the 4th indicator light 303 by second processor 301.Described 4th refers to
Show that lamp 303 is used to indicate the working condition of the positioning device 300.The working condition of positioning device 300 may include fail self-test,
Positioning failure, position error is excessive and positions normal etc..In the present embodiment, can by the luminescent color of the 4th indicator light 303 come
The working condition for distinguishing positioning device 300, can also distinguish positioning device 300 by the luminous duration of the 4th indicator light 303
Working condition can also distinguish the working condition of positioning device 300 by the flashing state of the 4th indicator light 303, alternatively, logical
Positioning device is distinguished in combination both at least in the luminescent color for crossing the 4th indicator light 303, the duration and flashing state of shining
300 working condition.It is of course also possible to distinguish the working condition of positioning device 300 by other means.
Table 2 is ID state, the work of the display state and positioning device 300 of third indicator light 302 and the 4th indicator light 303
State relation table.
Table 2
It should be noted that in table 2, when 200 quantity of base station that second processor 301 detects is less than preset data (example
When being equal to 3) such as preset data, then controlling the 4th indicator light 303 is blinking red lamp, shows location data mistake or there is no fixed
Position data.When 200 quantity of base station that second processor 301 detects is equal to preset data, then it is red for controlling the 4th indicator light 303
Lamp is always on, and shows that location data error is larger.When the base station 200 that second processor 301 detects quantity be greater than preset data,
Then the 4th indicator light 303 of control is that traffic lights alternately flash, and shows that location data is normal.
In addition, can be overcome by way of restarting positioning device 300 if 300 fail self-test of positioning device.If repeatedly
The problem of restarting positioning device 300 still and not can solve 300 fail self-test of positioning device, then current positioning device 300 can energy loss
It is bad, it needs to replace in time.
The positioning device 300 may also include the second communication interface being electrically connected with the second processor 301, so as to
By the second communication interface and external equipment (such as external power supply, server, base station 200 etc.), realize to positioning device 300
Power supply and data mutually pass.
Optionally, second communication interface may include bus interface 304, at the bus interface 304 and described second
It manages device 301 to be electrically connected, and the bus interface 304 is used to connect external power supply, server or base station 200, to realize to fixed
The power supply of position equipment 300, or realize that the data between positioning device 300 and server mutually pass, with upgrade positioning device 300 or
Parameter setting is carried out, or realizes that the data between positioning device 300 and base station 200 are transmitted.Wherein, the bus interface 304
It may be selected to be CAN interface 304 (Controller Area Network, controller local area network) or other kinds of
Bus interface 304.
Optionally, second communication interface may include secondary USB interface 305, the secondary USB interface 305 with it is described
Second processor 301 is electrically connected.The secondary USB interface 305 is for connecting external power supply or server, to realize to fixed
Data between the power supply or positioning device 300 and server of position equipment 300 mutually pass, to carry out the upgrading of positioning device 300
Or parameter setting.Certainly, second communication interface can be also other kinds of communication interface, and this is not limited by the present invention.
Example IV
The embodiment provides a kind of computer storage medium, program is stored in the computer storage medium and is referred to
It enables, is stored with program instruction, the method that described program executes the positioning system of above-described embodiment one in the computer storage medium.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
The description of " specific example " or " some examples " etc. means the specific spy described in conjunction with the embodiment or example
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material
Or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein sequence shown or discussed can not be pressed,
Including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by of the invention
Embodiment person of ordinary skill in the field is understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage or
Firmware is realized.For example, if realized with hardware, in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of the steps that above-mentioned implementation method carries
It is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer readable storage medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (38)
1. a kind of building method of positioning system, which is characterized in that the described method includes:
It obtains in current region at least two relative coordinates of the calibration positions under relative coordinate system and its fixed is sat preset
The absolute coordinate under system is marked, calibration location interval setting described in wherein at least two；
Based on the relative coordinate and absolute coordinate of at least two calibration positions, the relative coordinate system and the fixation are calculated
Transformation parameter between coordinate system；Wherein, in the acquisition current region at least two calibration positions under relative coordinate system
Before relative coordinate, further includes:
The first distance information in current region at least four specific positions between every two specific position is obtained, wherein at least
Any three not conllinear, each calibration position and the settings of each specific position interval in four specific positions；
According at least four specific positions, relative coordinate system is established；
According to the first distance information and the relative coordinate system, at least four specific positions are calculated in the opposite seat
Relative coordinate under mark system.
2. the method according to claim 1, wherein at least two calibration positions exist in the acquisition current region
Relative coordinate under relative coordinate system, comprising:
Obtain the second distance between any three specific positions in each calibration position and at least four specific positions
Information；
According to the second distance information and the relative coordinate of any three specific positions, each calibration position is calculated in institute
State the relative coordinate under relative coordinate system.
3. according to the method described in claim 2, it is characterized in that, the calibration position is equipped with positioning device；
The second distance information between any three specific positions in each calibration position and at least four specific positions is obtained,
Include:
Obtain its second between any three specific positions that the positioning device obtains on currently calibration position
Range information.
4. the method according to claim 1, wherein each specific position is equipped with base station；
First distance information in the acquisition current region at least four specific positions between every two specific position, packet
It includes:
Receive its first distance information between other base stations obtained that each base station is sent.
5. establishing phase the method according to claim 1, wherein described according at least four specific positions
To coordinate system, comprising:
One of specific position is set as origin, and set as origin specific position and another specific position formed to
Amount establishes relative coordinate system as a wherein reference axis.
6. according to the method described in claim 5, it is characterized in that, the relative coordinate system is three-dimensional cartesian coordinate system.
7. according to the method described in claim 2, it is characterized in that, at least two calibration positions exist in the acquisition current region
Absolute coordinate under preset fixed coordinate system, comprising:
Obtain absolute coordinate of the positioning device on the current calibration position measured under the fixed coordinate system；
Alternatively,
At least two calibration positions are before the absolute coordinate under preset fixed coordinate system in the acquisition current region, packet
It includes:
It receives user instructions, the user instruction carries absolute coordinate of each calibration position under the fixed coordinate system.
8. the method according to claim 1, wherein the calculating relative coordinate system and the fixed coordinates
After transformation parameter between system, further includes:
Obtain relative coordinate of the current location under the relative coordinate system；
According to the relative coordinate of current location and the transformation parameter, the current location is calculated under the fixed coordinate system
Absolute coordinate.
9. according to the method described in claim 8, it is characterized in that, the relative coordinate and the change according to current location
Parameter is changed, absolute coordinate of the current location under the fixed coordinate system is calculated, comprising:
According to the relative coordinate of the transformation parameter and at least four specific positions, each specific position is calculated described solid
Absolute coordinate under position fixing system；
According to the relative coordinate of current location, the absolute coordinate of any particular location, the current location is calculated in the fixation
Absolute coordinate under coordinate system.
10. according to the method described in claim 8, it is characterized in that, the acquisition current location is under the relative coordinate system
Relative coordinate, comprising:
Obtain the third range information between any three specific positions in current location and at least four specific positions；
According to the relative coordinate of the third range information and any three specific positions, the current location is calculated in phase
To the relative coordinate under coordinate system.
11. according to the method described in claim 8, it is characterized in that, the acquisition current location is under the relative coordinate system
Relative coordinate, comprising:
Current location is obtained in each reference axis of the relative coordinate system with respect to the 4th range information of any particular location；
According to the relative coordinate of the 4th range information and any particular location, the current location is calculated opposite
Relative coordinate under coordinate system.
12. according to the method described in claim 8, it is characterized in that, the relative coordinate according to current location and described
Transformation parameter calculates the current location after the absolute coordinate under the fixed coordinate system, further includes:
The absolute coordinate of the current location is sent to showing equipment.
13. the method according to claim 1, wherein the transformation parameter includes: the relative coordinate system conversion
To the spin matrix and translation vector of the fixed coordinate system.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of building method of the described in any item positioning systems of claim 1 to 13 is realized when execution.
15. a kind of positioning system, which is characterized in that including one or more processors, either individually or collectively work, the place
Reason device is configured as:
It obtains in current region at least two relative coordinates of the calibration positions under relative coordinate system and its fixed is sat preset
The absolute coordinate under system is marked, calibration location interval setting described in wherein at least two；
Based on the relative coordinate and absolute coordinate of at least two calibration positions, the relative coordinate system and the fixation are calculated
Transformation parameter between coordinate system；Wherein, the processor obtain current region at least two calibration positions in opposite seat
Before relative coordinate under mark system, further includes:
The first distance information in current region at least four specific positions between every two specific position is obtained, wherein at least
Any three not conllinear, each calibration position and the settings of each specific position interval in four specific positions；
According at least four specific positions, relative coordinate system is established；
According to the first distance information and the relative coordinate system, at least four specific positions are calculated in the opposite seat
Relative coordinate under mark system.
16. positioning system according to claim 15, which is characterized in that at least two calibration in the acquisition current region
Relative coordinate of the position under relative coordinate system, comprising:
Obtain the second distance between any three specific positions in each calibration position and at least four specific positions
Information；
According to the second distance information and the relative coordinate of any three specific positions, each calibration position is calculated in institute
State the relative coordinate under relative coordinate system.
17. positioning system according to claim 16, which is characterized in that the calibration position is equipped with positioning device；
The second distance information between any three specific positions in each calibration position and at least four specific positions is obtained,
Include:
Obtain its second between any three specific positions that the positioning device obtains on currently calibration position
Range information.
18. positioning system according to claim 15, which is characterized in that each specific position is equipped with base station；
First distance information in the acquisition current region at least four specific positions between every two specific position, packet
It includes:
Receive its first distance information between other base stations obtained that each base station is sent.
19. positioning system according to claim 15, which is characterized in that it is described according at least four specific positions,
Establish relative coordinate system, comprising:
One of specific position is set as origin, and set as origin specific position and another specific position formed to
Amount establishes relative coordinate system as a wherein reference axis.
20. positioning system according to claim 19, which is characterized in that the relative coordinate system is three-dimensional rectangular coordinate
System.
21. positioning system according to claim 16, which is characterized in that at least two calibration in the acquisition current region
Absolute coordinate of the position under preset fixed coordinate system, comprising:
Obtain absolute coordinate of the positioning device on the current calibration position measured under the fixed coordinate system；
Alternatively,
At least two calibration positions are before the absolute coordinate under preset fixed coordinate system in the acquisition current region, packet
It includes:
It receives user instructions, the user instruction carries absolute coordinate of each calibration position under the fixed coordinate system.
22. positioning system according to claim 15, which is characterized in that the relative coordinate system and described solid of calculating
After transformation parameter between position fixing system, further includes:
Obtain relative coordinate of the current location under the relative coordinate system；
According to the relative coordinate of current location and the transformation parameter, the current location is calculated under the fixed coordinate system
Absolute coordinate.
23. positioning system according to claim 22, which is characterized in that the relative coordinate according to current location and
The transformation parameter calculates absolute coordinate of the current location under the fixed coordinate system, comprising:
According to the relative coordinate of the transformation parameter and at least four specific positions, each specific position is calculated described solid
Absolute coordinate under position fixing system；
According to the relative coordinate of current location, the absolute coordinate of any particular location, the current location is calculated in the fixation
Absolute coordinate under coordinate system.
24. positioning system according to claim 22, which is characterized in that the acquisition current location is in the relative coordinate
Relative coordinate under system, comprising:
Obtain the third range information between any three specific positions in current location and at least four specific positions；
According to the relative coordinate of the third range information and any three specific positions, the current location is calculated in phase
To the relative coordinate under coordinate system.
25. positioning system according to claim 22, which is characterized in that the acquisition current location is in the relative coordinate
Relative coordinate under system, comprising:
Current location is obtained in each reference axis of the relative coordinate system with respect to the 4th range information of any particular location；
According to the relative coordinate of the 4th range information and any particular location, the current location is calculated opposite
Relative coordinate under coordinate system.
26. positioning system according to claim 22, which is characterized in that the relative coordinate according to current location and
The transformation parameter calculates the current location after the absolute coordinate under the fixed coordinate system, further includes:
The absolute coordinate of the current location is sent to showing equipment.
27. positioning system according to claim 15, which is characterized in that the transformation parameter includes: the relative coordinate
System converts to the spin matrix and translation vector of the fixed coordinate system.
28. a kind of positioning system, which is characterized in that including base station and the positioning device being movably arranged, the base station at least four
A, the position of any three base stations is not conllinear at least four base stations；
Each base station can obtain its first distance information between other base stations；
The positioning device is arranged at least two calibration positions, can obtain each calibration position and wherein any three base stations
Between second distance information；
Relative coordinate system is established in the base station, and according to the first distance information between each base station, each calibration position and any three
The absolute coordinate of second distance information between a base station and each calibration position under preset fixed coordinate system, described in calculating
Transformation parameter between relative coordinate system and the fixed coordinate system.
29. positioning system according to claim 28, which is characterized in that at least four base stations are located at same level height
Degree.
30. positioning system according to claim 28, which is characterized in that the base station include first processor and with institute
The first indicator light of first processor electrical connection is stated, first indicator light is used to indicate the ID state of the base station.
31. positioning system according to claim 30, which is characterized in that the base station further includes and the first processor
Second indicator light of electrical connection, second indicator light are used to indicate the working condition of the base station.
32. the positioning system according to claim 30 or 31, which is characterized in that the base station further include with described first at
The first USB interface of device electrical connection is managed, first USB interface is for connecting external power supply or server.
33. positioning system according to claim 28, which is characterized in that further include fixing piece, the base station passes through described
Fixing piece is installed to fixed equipment.
34. positioning system according to claim 28, which is characterized in that the positioning device include second processor and
The third indicator light being electrically connected with the second processor, the third indicator light are used to indicate the ID shape of the positioning device
State.
35. positioning system according to claim 34, which is characterized in that the positioning device further include with described second at
The 4th indicator light of device electrical connection is managed, the 4th indicator light is used to indicate the working condition of the positioning device.
36. the positioning system according to claim 34 or 35, which is characterized in that the positioning device further includes and described
The bus interface of two processors electrical connection, the bus interface is for connecting external power supply, server or base station.
37. the positioning system according to claim 34 or 35, which is characterized in that the positioning device further includes and described
The secondary USB interface of two processors electrical connection, the secondary USB interface is for connecting external power supply or server.
38. positioning system according to claim 28, which is characterized in that the transformation parameter includes: the relative coordinate
System converts to the spin matrix and translation vector of the fixed coordinate system.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/097561 WO2019033282A1 (en) | 2017-08-15 | 2017-08-15 | Positioning system and building method therefor |
Publications (2)
| Publication Number | Publication Date |
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| CN108474859A CN108474859A (en) | 2018-08-31 |
| CN108474859B true CN108474859B (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780005576.9A Expired - Fee Related CN108474859B (en) | 2017-08-15 | 2017-08-15 | Positioning system and its building method |
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| CN (1) | CN108474859B (en) |
| WO (1) | WO2019033282A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109660944A (en) * | 2019-02-12 | 2019-04-19 | 七彩安科智慧科技有限公司 | A kind of identity device and localization method of grid WIFi probe positioning candid photograph |
| CN111836185B (en) * | 2019-04-22 | 2023-10-10 | 苏州科瓴精密机械科技有限公司 | Method, device, equipment and storage medium for determining base station position coordinates |
| CN111896915A (en) * | 2020-04-22 | 2020-11-06 | 河海大学 | Soft body row overlapping positioning monitoring detection system and use method thereof |
| CN111973984A (en) * | 2020-09-10 | 2020-11-24 | 网易（杭州）网络有限公司 | Coordinate control method and device for virtual scene, electronic equipment and storage medium |
| CN113154989A (en) * | 2020-12-25 | 2021-07-23 | 中国人民解放军战略支援部队信息工程大学 | Dynamic precision calibration method of UWB system |
| CN112995592A (en) * | 2021-02-05 | 2021-06-18 | 山东体育学院 | Intelligent equestrian racing field positioning system based on wireless positioning technology |
| CN113286255B (en) * | 2021-04-09 | 2023-04-14 | 安克创新科技股份有限公司 | Ad hoc network method of positioning system based on beacon base station and storage medium |
| CN114501364B (en) * | 2022-02-22 | 2023-12-22 | 成都市联洲国际技术有限公司 | Indoor positioning method and device based on WIFI signals and electronic equipment |
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| CN108474859A (en) | 2018-08-31 |
| WO2019033282A1 (en) | 2019-02-21 |
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