CN108872937A - A kind of method and device for calibrating locating base station coordinate system - Google Patents
A kind of method and device for calibrating locating base station coordinate system Download PDFInfo
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- CN108872937A CN108872937A CN201810680957.3A CN201810680957A CN108872937A CN 108872937 A CN108872937 A CN 108872937A CN 201810680957 A CN201810680957 A CN 201810680957A CN 108872937 A CN108872937 A CN 108872937A
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- Prior art keywords
- base station
- locating base
- coordinate system
- inclination angle
- locating
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention relates to laser and electronic technology field more particularly to a kind of method and devices for calibrating locating base station coordinate system.Server obtains the first inclination angle of the first locating base station and the second inclination angle of the second locating base station, according to the laser signal of received second locating base station of the first locating base station, determine first position of first locating base station in the local coordinate system of the second locating base station, according to the laser signal of received first locating base station of the second locating base station, determine the second position of second locating base station in the local coordinate system of the first locating base station, according to the first inclination angle, second inclination angle, first position and the second position, the local coordinate system of the local coordinate system of first locating base station and the second locating base station is converted into the first preset coordinate system.In this way, server multiple locating base stations in the system can all be unified to can solve to the same coordinate system user in the region with multiple locating base stations using getting muddled when being tracked equipment the problem of.
Description
Technical field
The invention relates to laser and electronic technology field more particularly to a kind of sides for calibrating locating base station coordinate system
Method and device.
Background technique
Virtual reality (Virtual Reality, VR) technology is a kind of using computer generation simulated environment, and by special
Industry equipment allows user to enter Virtual Space, real-time perception and operation, to obtain the technology of impression on the spot in person.
The most important feature of VR technology is its feeling of immersion, and the three dimension location system that a set of precision is high, real-time is good
It is the important ring for realizing this feature, the precision of laser positioning scheme can achieve a millimeter rank, be current realization VR positioning
One of technical way.Wherein, the basic principle of laser positioning is to utilize locating base station, vertical and horizontal to detection spatial emission
Scanning laser, in laser scanning region, laser arrival time can be measured by being mounted on the laser pickoff being tracked in equipment,
Then the three-dimensional space position for being tracked equipment is calculated according to the time of the quantity of laser and arrival receiver, wherein resolve
Three-dimensional space position out is defined in the local coordinate system of locating base station.However, may be deposited in the scene of VR technical application
In multiple locating base stations, the three-dimensional space position for being tracked equipment calculated by way of above-mentioned laser positioning is defined in
In the local coordinate system of different locating base stations.Due to be independent in the local coordinate system of different locating base stations and difference compared with
Greatly, equipment is tracked when the local coordinate system of different locating base stations occurs mobile, will lead to the user using the tracing equipment
Positioning gets muddled.
For example, there are 2 locating base stations, locating base station A and locating base station B in a region, user is with VR head
Helmet carries out game, and in the local coordinate system of locating base station A, user feels to advance toward front, is switched to the office of locating base station B
In portion's coordinate system, user may feel to advance toward left front, and in fact, user is always towards same in realistic space
What a direction was advanced.In this way, user is made to occur to feel disorder when being tracked equipment using this.
Summary of the invention
The embodiment of the present application provides a kind of method and device for calibrating locating base station coordinate system, has for solving user
The problem of in the region of multiple locating base stations using disturbance locating occurs when being tracked equipment.
The embodiment of the present application provides a kind of method for calibrating locating base station coordinate system, is suitable for including multiple positioning in region
The system of base station, any one locating base station in multiple locating base stations can receive the laser of at least one locating base station in system
Signal, this method include：The first inclination angle of the first locating base station and the second inclination angle of the second locating base station are obtained, first is fixed
Position base station and the second locating base station are any of multiple locating base stations, according to the received second positioning base of the first locating base station
The laser signal stood determines first position of first locating base station in the local coordinate system of the second locating base station, according to second
The laser signal of received first locating base station of locating base station, determines the second locating base station in the local coordinate of the first locating base station
The second position in system, according to the first inclination angle, the second inclination angle, first position and the second position, by the first locating base station
Local coordinate system is converted to the first preset coordinate system and the local coordinate system of the second locating base station is converted to the first preset coordinate
System.
Optionally, according to the first inclination angle, the second inclination angle, first position and the second position, by the first locating base station
Local coordinate system is converted to the first preset coordinate system and the local coordinate system of the second locating base station is converted to the first preset coordinate
System, including：First locating base station is determined as reference location base station, then the first transformational relation is determined according to the first inclination angle, the
One transformational relation is used to the local coordinate system of the first locating base station being converted to the first preset coordinate system, according to the first inclination angle,
Second inclination angle, first position and the second position determine deviation of second locating base station based on the first locating base station, according to
Two inclinations angle and deviation determine that the second transformational relation, the second transformational relation are used to turn the local coordinate system of the second locating base station
It is changed to the first preset coordinate system.
Optionally, the second locating base station base is determined according to the first inclination angle, the second inclination angle, first position and the second position
In the deviation of the first locating base station, including：Determine that the second locating base station is pre- first according to the first inclination angle and the second position
If the third place in coordinate system, determine the first locating base station in the first preset coordinate system according to the second inclination angle and first position
In the 4th position, deviation of second locating base station based on the first locating base station is determined according to the third place and the 4th position.
Optionally, the first inclination angle of the first locating base station and the second inclination angle of the second locating base station are obtained, including：It is logical
The accelerometer for crossing the first locating base station obtains the first acceleration of the first locating base station, is accelerated according to the first acceleration and gravity
It spends and determines the first inclination angle, the second acceleration of the second locating base station is obtained by the accelerometer of the second locating base station, according to
Second acceleration and acceleration of gravity determine the second inclination angle.
Optionally, system includes multiple subsystems, includes a reference location base station, reference location base in any subsystem
Stand and the subsystem in any locating base station between mutual Phase Receiver laser signal, there are at least one adjacent sons for any subsystem
System, mutual Phase Receiver laser signal between the reference location base station of adjacent subsystems and the reference location base station of the subsystem, the
One subsystem includes the first locating base station and the second locating base station, and the first locating base station is the reference location base of the first subsystem
It stands, the second subsystem includes third locating base station and the 4th locating base station, and third locating base station is that the reference of the second subsystem is fixed
Position base station, the first subsystem and the second subsystem are the adjacent subsystems in multiple subsystems, and it is each fixed in the first subsystem to determine
Position base station is fixed based on third based on each locating base station in the first preset coordinate system of the first locating base station and determining second subsystem
Second preset coordinate system of locating base station each in the second subsystem is converted to the second son by the second preset coordinate system of position base station
First preset coordinate system of each locating base station in system.
The embodiment of the present application provides a kind of device for calibrating locating base station coordinate system, is suitable for including multiple positioning in region
The system of base station, any one locating base station in multiple locating base stations can receive the laser of at least one locating base station in system
Signal, the device include：Acquiring unit, for obtain the first locating base station the first inclination angle and the second locating base station second
Inclination angle, the first locating base station and the second locating base station are any of multiple locating base stations, determination unit, for according to the
The laser signal of received second locating base station of one locating base station determines that the first locating base station is sat in the part of the second locating base station
First position in mark system determines the second positioning base according to the laser signal of received first locating base station of the second locating base station
The second position stood in the local coordinate system of the first locating base station, converting unit, for according to the first inclination angle, the second inclination
The local coordinate system of first locating base station is converted to the first preset coordinate system and by second by angle, first position and the second position
The local coordinate system of locating base station is converted to the first preset coordinate system.
Optionally, converting unit is specifically used for：First locating base station is determined as reference location base station, then according to first
Inclination angle determines that the first transformational relation, the first transformational relation are used to being converted to the local coordinate system of the first locating base station into first pre-
If coordinate system, determine that the second locating base station is based on first according to the first inclination angle, the second inclination angle, first position and the second position
The deviation of locating base station determines the second transformational relation according to the second inclination angle and deviation, and the second transformational relation is used for the
The local coordinate system of two locating base stations is converted to the first preset coordinate system.
Optionally, converting unit is specifically used for：Determine the second locating base station according to the first inclination angle and the second position
The third place in one preset coordinate system determines the first locating base station in the first default seat according to the second inclination angle and first position
The 4th position in mark system, determines deviation of second locating base station based on the first locating base station according to the third place and the 4th position
Value.
Optionally, acquiring unit specifically includes：The first locating base station is obtained by the accelerometer of the first locating base station
First acceleration determines the first inclination angle according to the first acceleration and acceleration of gravity, passes through the acceleration of the second locating base station
Meter obtains the second acceleration of the second locating base station, determines the second inclination angle according to the second acceleration and acceleration of gravity.
Optionally, system includes multiple subsystems, includes a reference location base station, reference location base in any subsystem
Stand and the subsystem in any locating base station between mutual Phase Receiver laser signal, there are at least one adjacent sons for any subsystem
System, mutual Phase Receiver laser signal between the reference location base station of adjacent subsystems and the reference location base station of the subsystem, the
One subsystem includes the first locating base station and the second locating base station, and the first locating base station is the reference location base of the first subsystem
It stands, the second subsystem includes third locating base station and the 4th locating base station, and third locating base station is that the reference of the second subsystem is fixed
Position base station, the first subsystem and the second subsystem are the adjacent subsystems in multiple subsystems, and determination unit is specifically used for determining
First preset coordinate system of each locating base station based on the first locating base station in first subsystem is also used to determine in the second subsystem
Second preset coordinate system of each locating base station based on third locating base station, converting unit, being also used to will be each fixed in the second subsystem
Second preset coordinate system of position base station, is converted to the first preset coordinate system of each locating base station in the second subsystem.
The embodiment of the present application provides a kind of computer storage medium, and computer storage medium is stored with the executable finger of computer
It enables, computer executable instructions make to calculate above-mentioned method when being called by computer.
The embodiment of the present application provides a kind of computer installation, including：Memory, for storing program instruction, processor is used
In calling the program instruction stored in memory, above-mentioned method is executed according to the program of acquisition.
It include the system of multiple locating base stations in the embodiment of the present application, in region, server obtains the first locating base station
Second inclination angle at the first inclination angle and the second locating base station, the first locating base station and the second locating base station are multiple locating base stations
Any of, according to the laser signal of received second locating base station of the first locating base station, determine the first locating base station
First position in the local coordinate system of two locating base stations is believed according to the laser of received first locating base station of the second locating base station
Number, the second position of second locating base station in the local coordinate system of the first locating base station is determined, according to the first inclination angle, second
The local coordinate system of first locating base station is converted to the first preset coordinate system and incited somebody to action by inclination angle, first position and the second position
The local coordinate system of second locating base station is converted to the first preset coordinate system.In this way, server can will be multiple in the system
Locating base station is all unified to same first preset coordinate system, so that being tracked no matter equipment receives swashing for which locating base station
The position for being tracked equipment can be gone in the first preset coordinate system, can solve user with multiple fixed by optical signal
The problem of in the region of position base station using disturbance locating occurs when being tracked equipment.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, the drawings in the following description are only some examples of the present application, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of system architecture diagram provided by the embodiments of the present application；
Fig. 2 is a kind of flow diagram of method for calibrating locating base station coordinate system provided by the embodiments of the present application；
Fig. 3 is a kind of schematic diagram for calibrating locating base station coordinate system provided by the embodiments of the present application；
Fig. 4 is a kind of schematic diagram for calibrating locating base station coordinate system provided by the embodiments of the present application；
Fig. 5 is a kind of schematic diagram for calibrating locating base station coordinate system provided by the embodiments of the present application；
Fig. 6 is a kind of structural schematic diagram of device for calibrating locating base station coordinate system provided by the embodiments of the present application.
Specific embodiment
In order to which the purpose, technical solution and beneficial effect of the application is more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the application.It should be appreciated that specific embodiment described herein is only used to explain this Shen
Please, it is not used to limit the application.
Fig. 1 illustrates a kind of applicable system architecture diagram of the embodiment of the present application, as shown in Figure 1, including being tracked
Equipment 101, locating base station 102 and server 103.Wherein, the multiple locating base stations 102 shown in figure can be placed on same
In a region.Optionally, being tracked equipment 101 can be handle, can also be the VR helmet.
In the embodiment of the present application, multiple locating base stations 102 can be connected with server 103 respectively by way of wireless connection
It connects, the first inclination angle of the first locating base station and the second locating base station in the available multiple locating base stations 102 of server 103
Second inclination angle.And server 103 can determine first of the first locating base station in the local coordinate system of the second locating base station
Position.Similarly, server 103 can determine second of second locating base station in the local coordinate system of the first locating base station
It sets.The local coordinate system of first locating base station can be converted to the first preset coordinate system by server, by the second locating base station
Local coordinate system is converted to the first preset coordinate system.In this way, server 103 can be by multiple locating base stations in the same area
102 is unified into a preset coordinate system.
After unified preset coordinate system is established, it is multiple fixed to be tracked equipment 101 in the area and can receive
Any of position base station 102 or the laser for appointing multiple locating base stations to issue, being tracked equipment 101 can swash according to what is received
Light determination is tracked position of the equipment 101 in the corresponding locating base station of the laser, and the position is sent to server, services
The position is converted to this and is tracked position of the equipment 101 in the first preset coordinate system by device, is then answered the position feedback
With.
Fig. 2 illustrates a kind of process signal of the applicable calibration locating base station coordinate system, method of the embodiment of the present application
Figure, suitable for including the system of multiple locating base stations in region, any one locating base station in multiple locating base stations can be received
The laser signal of at least one locating base station in the system, as shown in Fig. 2, including：
Step 201, server obtains the first inclination angle of the first locating base station and the second inclination angle of the second locating base station；
First locating base station and the second locating base station are any of multiple locating base stations；
Step 202, server determines that first is fixed according to the laser signal of received second locating base station of the first locating base station
First position of the position base station in the local coordinate system of the second locating base station；
Step 203, server determines that second is fixed according to the laser signal of received first locating base station of the second locating base station
The second position of the position base station in the local coordinate system of the first locating base station；
Step 204, server is according to the first inclination angle, the second inclination angle, first position and the second position, by the first positioning
The local coordinate system of base station is converted to the first preset coordinate system and the local coordinate system of the second locating base station is converted to first in advance
If coordinate system.
In the embodiment of the present application, the locating base station in the system is made of the first locating base station and the second locating base station
's.First locating base station within the system only one, and the second locating base station can have one or more within the system.
First locating base station can receive the laser signal issued to any of the second locating base station the second locating base station, and any one
Second locating base station can receive the laser signal of first locating base station sending.It can receive between second locating base station
The laser signal that other second locating base stations issue also can receive the laser signal issued less than other second locating base stations.
It include the system of multiple locating base stations in the embodiment of the present application, in region, server obtains the first locating base station
Second inclination angle at the first inclination angle and the second locating base station, the first locating base station and the second locating base station are multiple locating base stations
Any of, according to the laser signal of received second locating base station of the first locating base station, determine the first locating base station
First position in the local coordinate system of two locating base stations is believed according to the laser of received first locating base station of the second locating base station
Number, the second position of second locating base station in the local coordinate system of the first locating base station is determined, according to the first inclination angle, second
The local coordinate system of first locating base station is converted to the first preset coordinate system and incited somebody to action by inclination angle, first position and the second position
The local coordinate system of second locating base station is converted to the first preset coordinate system.In this way, server can will be multiple in the system
Locating base station is all unified to same first preset coordinate system, so that being tracked no matter equipment receives swashing for which locating base station
The position for being tracked equipment can be gone in the first preset coordinate system, can solve user with multiple fixed by optical signal
The problem of in the region of position base station using disturbance locating occurs when being tracked equipment.
Moreover, having pertained only to locating base station in the embodiment of the present application, that is to say, that only pass through the attribute between locating base station
The unification of multiple locating base stations in the same area to the same coordinate system (can also be claimed with the laser signal of sending
For in world coordinate system).It does not need by other equipment, it is simple and convenient.
Be described below how to determine first position of first locating base station in the local coordinate system of the second locating base station and
How the second position of second locating base station in the local coordinate system of the first locating base station.In the embodiment of the present application, the system
In each locating base station be both provided with laser scanning module and laser pick-off module.In a kind of optional embodiment, each
Locating base station is provided with 3 laser scanning modules, and three laser scanning modules are successively scanned space.Fig. 3 is exemplary to be shown
A kind of schematic diagram of the applicable calibration locating base station coordinate system of the embodiment of the present application is gone out, as shown in figure 3, including 2 in the region
3 laser scanning modules 303 are respectively set in a locating base station 301 and 302, locating base station 301 and locating base station 302 and laser connects
Module 304 is received, laser scanning module 303 can issue 3 beam laser signals 305.
It, can be by being located at the left side and positioned at the 2 of the right in 3 laser scanning modules 303 in a kind of optional embodiment
A laser scanning module is scanned horizontal direction, is located in the middle 1 laser scanning module and is scanned to vertical direction.
In the same time, only have 1 laser scanning module to issue laser in 3 laser scanning modules.
Based on above-mentioned Fig. 3, in step 202 and step 203, in a kind of optional embodiment, due to 301 He of locating base station
Locating base station 302 can receive mutually the laser signal of other side, can be any in locating base station 301 and locating base station 302
A locating base station is assumed to be the first locating base station.If locating base station 301 is the first locating base station, locating base station 302 is second
Locating base station.The laser pick-off module of first locating base station receives the 3 of 3 laser scanning modules sending of the second locating base station
Beam laser signal, and 3 beam laser signals are sent to server, server can be determined according to the 3 beam laser signals received
First position P of first locating base station in the second locating base station local coordinate systemA.Similarly, the laser of the second locating base station
Receiving module receives the 3 beam laser signals that 3 laser scanning modules of the first locating base station issue, and by 3 beam laser signals
It is sent to server, server can determine the second locating base station in the first locating base station according to the 3 beam laser signals received
Second position P in local coordinate systemB。
The first inclination angle for how obtaining the first locating base station is described below and how to obtain the second of the second locating base station
Inclination angle.In a kind of optional embodiment, each locating base station in the system is both provided with accelerometer, based on above-mentioned
Example, the first locating base station can obtain the first acceleration of the first locating base station by the accelerometer of the first locating base station,
And the first inclination angle is determined according to the first acceleration and acceleration of gravity；Similarly, the second locating base station can be fixed by second
The accelerometer of position base station obtains the second acceleration of the second locating base station, determines the according to the second acceleration and acceleration of gravity
Two inclinations angle.
Citing, the first acceleration of the first locating base station are aA, acceleration of gravity g, the first acceleration aAAccelerate with gravity
Angle between degree g can be expressed as formula (1)：
First acceleration aANormalization rotating vector with gravity acceleration g is formula (2)：
Then the inclination of the first locating base station can be indicated with formula (3)：QA=cos (θA/2)+i·R(x)·sin(θA/2)
+j·R(y)sin(θA/2)+k·R(z)·sin(θA/ 2) ... formula (3)
In above-mentioned formula (3), R (x) is rotational component in the x direction, and R (y) is rotational component in y-direction, R
(z) it is rotational component in a z-direction, is dot product.
Optionally, the first inclination angle Q of the first locating base stationAWith the second inclination angle Q of the second locating base stationBIt can be used
Quaternary number representation indicates, can also be indicated using Euler's formula.Using having the beneficial effect that for quaternary number representation：Relatively
In Euler's formula, quaternary number representation can be to avoid Universal lock, and is convenient for interpolation.
In step 204, in a kind of optional embodiment, according to above-mentioned example, server is true by the first locating base station
It is set to reference location base station, then according to the first inclination angle QADetermine the first transformational relation；First transformational relation is used for first
The local coordinate system of locating base station is converted to the first preset coordinate system.Optionally, the first transformational relation QAWFormula (4) table can be used
Show：QAW=QA... formula (4).
Optionally, server can be according to the first inclination angle QA, the second inclination angle QB, first position PAWith second position PB
Determine the deviation of second locating base station based on the first locating base station.A kind of the second locating base station of optional determination is based on first
In the embodiment of the deviation of locating base station, server can be according to the first inclination angle QAWith second position PBDetermine that second is fixed
The third place P of the position base station in the first preset coordinate systemB', the third place PB' can be indicated with formula (5)：
PB'=QA·PB·QA -1... formula (5)
Server and according to the second inclination angle QBWith first position PADetermine the first locating base station in the first preset coordinate system
The 4th position PA', the 4th position PA' can be indicated with formula (6)：
PA'=QB·PA·QB -1... formula (6)
In the embodiment of the present application, server can be according to the third place PB' and the 4th position PA' determine the second locating base station
Deviation Q based on the first locating base stationABYaw.And according to the second inclination angle QBIt is fixed that first is based on second locating base station
The deviation Q of position base stationABYawDetermine the second transformational relation QBW, wherein the second transformational relation QBWIt can be indicated with formula (7), the
Two transformational relation QBWFor the second inclination angle QBWith deviation QABYawProduct：
QBW=QABYaw·QB... formula (7)
Server can be according to the first transformational relation QAWThe local coordinate system H of first locating base station is converted to first to preset
Coordinate system, can be according to the second transformational relation QBWThe local coordinate system M of second locating base station is converted into the first preset coordinate system.
I.e. the local coordinate system H of the first locating base station can be passed through the first transformational relation Q by serverAWIt converts to the first preset coordinate system
In, the local coordinate system M of the second locating base station can be passed through into the second transformational relation QBWConversion is into the first preset coordinate system.
It is above-mentioned based on Fig. 3 for example be to describe the first scene：There are 2 in one region mutually can receive
The locating base station for the laser signal that other side issues.
Next second of scene is introduced：There are 3 locating base stations in one region, in a kind of optional embodiment, 3
Any of a locating base station locating base station can receive the laser signal that other two locating base stations issue, then can be by it
Any of locating base station be determined as the first locating base station, other two locating base stations are determined as the second locating base station.It is another
In optional embodiment, only one base station can receive the laser letter that other two locating base stations issue in 3 base stations
Number, in addition 2 locating base stations cannot receive the laser signal of other side between each other.
Fig. 4 illustrates a kind of schematic diagram of the applicable calibration locating base station coordinate system of the embodiment of the present application, including 3
A locating base station 401,402 and 403.Wherein, locating base station 402 can receive locating base station 401 and locating base station 403 issues
Laser signal, and locating base station 401 can only receive the laser signal of the sending of locating base station 402, and locating base station 403 can only connect
Receive the laser signal of the sending of locating base station 402.In this way, locating base station 402 can be determined as the first locating base station, base is positioned
It stands and 401 and 403 is determined as the second locating base station.
Optionally, the laser that server can be issued according to the second locating base station 401 that the first locating base station 402 receives
Signal determines position P of first locating base station 402 in 401 local coordinate system of the second locating base station21, and according to the first positioning base
The laser signal that the second locating base station 403 that 402 receive issues of standing determines the first locating base station 402 in the second locating base station
Position P in 403 local coordinate systems23.The first locating base station 402 that server can be received according to the second locating base station 401
The laser signal of sending determines position P of second locating base station 401 in 402 local coordinate system of the first locating base station1, server
The second locating base station can be determined according to the laser signal that the first locating base station 402 that the second locating base station 403 receives issues
The 403 position P in 402 local coordinate system of the first locating base station3。
Optionally, the first locating base station 402 can obtain the first locating base station by the accelerometer of the first locating base station
The first acceleration, and the first inclination angle Q is determined according to the first acceleration and acceleration of gravity2；Similarly, the second locating base station
401 and 403 can obtain the second acceleration of the second locating base station by the accelerometer of the second locating base station, add according to second
Speed and acceleration of gravity determine the second inclination angle Q1And Q3。
Server is according to the first inclination angle Q2Determine the first transformational relation, which is used to position base for first
The local coordinate system stood is converted to the first preset coordinate system.First transformational relation Q2W=Q2。
For the relationship between the first locating base station 402 and the second locating base station 401, server can be according to the first inclination
Angle Q2, the second inclination angle Q1, position P of first locating base station 402 in 401 local coordinate system of the second locating base station21With second
Position P of the locating base station 401 in 402 local coordinate system of the first locating base station1Determine that second locating base station 401 is based on first
The deviation Q of locating base station 40212Yaw：Firstly, server can be according to the first inclination angle Q2With the second locating base station 401
Position P in one locating base station, 402 local coordinate system1Determine position of second locating base station 401 in the first preset coordinate system
P1'=Q2P1·Q2 -1, secondly, server can be according to the second inclination angle Q1With the first locating base station 402 in the second locating base station
Position P in 401 local coordinate systems21Determine that the first locating base station 402 is based on the second locating base station 401 in the first preset coordinate system
In position P21'=Q1·P21·Q1 -1, according to position P of second locating base station 401 in the first preset coordinate system1' and the
Position P of one locating base station 402 based on the second locating base station 401 in the first preset coordinate system21' determine second locating base station
The 401 deviation Q based on the first locating base station 40212Yaw.And according to the second inclination angle Q1It is based on second locating base station 401
The deviation Q of first locating base station 40212YawDetermine the second transformational relation Q of the second locating base station 4011W=Q12Yaw·Q1。
For the relationship between the first locating base station 402 and the second locating base station 403, server can be according to the first inclination
Angle Q2, the second inclination angle Q3, position P of first locating base station 402 in 403 local coordinate system of the second locating base station23With second
Position P of the locating base station 403 in 402 local coordinate system of the first locating base station3Determine that second locating base station 401 is based on first
The deviation Q of locating base station 40332Yaw：Firstly, can be according to the first inclination angle Q according to server2With the second locating base station 403
Position P in 402 local coordinate system of the first locating base station3Determine the second locating base station 403 in the first preset coordinate system
Position P3'=Q2·P3·Q2-1, secondly, server can be according to the second inclination angle Q3It is fixed second with the first locating base station 402
Position P in 403 local coordinate system of position base station23It is default first to determine that the first locating base station 402 is based on the second locating base station 403
Position P in coordinate system23'=Q3P23·Q3 -1, according to position P of second locating base station 403 in the first preset coordinate system3′
Position P with the first locating base station 402 based on the second locating base station 403 in the first preset coordinate system23' determine second positioning
Deviation Q of the base station 403 based on the first locating base station 40232Yaw.And according to the second inclination angle Q3With second locating base station 403
Deviation Q based on the first locating base station 40232YawDetermine the second transformational relation Q of the second locating base station 4033W=Q32Yaw·
Q3。
In this way, server can be according to the first transformational relation Q2WThe local coordinate system A of first locating base station 402 is converted to
First preset coordinate system, can be according to the second transformational relation Q1WThe local coordinate system B of second locating base station 401 is converted to first
Preset coordinate system, can be according to the second transformational relation Q3WThe local coordinate system C of second locating base station 403 is converted to first to preset
Coordinate system.I.e. the local coordinate system A of the first locating base station can be passed through the first transformational relation Q by server2WIt converts to first in advance
If in coordinate system, the local coordinate system B of the second locating base station 401 can be passed through the second transformational relation Q1WIt converts to first and presets
In coordinate system, the local coordinate system C of the second locating base station 403 can be passed through into the second transformational relation Q3WConversion is preset to first and is sat
In mark system.
The third scene is described below, it includes a reference location base in any subsystem that system, which includes multiple subsystems,
It stands, mutual Phase Receiver laser signal between any locating base station in the reference location base station and the subsystem.Wherein, any subsystem
There are at least one adjacent subsystems for system, between the reference location base station of adjacent subsystems and the reference location base station of the subsystem
Mutual Phase Receiver laser signal.First subsystem includes the first locating base station and the second locating base station, and the first locating base station is first
The reference location base station of subsystem；Second subsystem includes third locating base station and the 4th locating base station, and third locating base station is
The reference location base station of second subsystem；First subsystem and the second subsystem are the adjacent subsystems in multiple subsystems；Clothes
Business device determines first preset coordinate system and determining second subsystem of each locating base station based on the first locating base station in the first subsystem
Second preset coordinate system of each locating base station based on third locating base station in system；Server is by locating base station each in the second subsystem
The second preset coordinate system, be converted to the first preset coordinate system of each locating base station in the second subsystem.
For example, Fig. 5 illustrates a kind of showing for the applicable calibration locating base station coordinate system of the embodiment of the present application
It is intended to, as shown in figure 5, including 4 locating base stations 501,502,503 and 504 in region.Wherein, locating base station 501 can receive
To the laser signal of locating base station 502, locating base station 502 can receive the laser letter of locating base station 501 and locating base station 503
Number, locating base station 503 can receive the laser signal of locating base station 502 and locating base station 504, and locating base station 504 can connect
Receive the laser signal of locating base station 503.In this system, it can receive other 3 there is no a locating base station and determine
The laser signal that position base station issues.
Optionally, which can be divided into 2 subsystems, divide locating base station 501 and locating base station 502 into first son
System divides locating base station 503 and locating base station 504 into second subsystem.Due to 502 He of locating base station in the first subsystem
Locating base station 503 in second subsystem can receive and dispatch mutually laser signal, therefore, can regard locating base station 502 as first
Reference location base station in subsystem.By locating base station 503 as the reference location base station in the second subsystem.Server determines
Each locating base station is based on each fixed in the first preset coordinate system of reference location base station and determining second subsystem in first subsystem
Position second preset coordinate system of the base station based on reference location base station, server are pre- by the second of locating base station each in the second subsystem
If coordinate system, the first preset coordinate system of each locating base station in the second subsystem is converted to.That is, server can will be determined
Position base station 501 and the unified conversion of locating base station 502 are to the first preset coordinate system, and then, server can be by 503 He of locating base station
Locating base station 504 is unified to be converted to the second preset coordinate system.Then, by the unified conversion of each locating base station in the second subsystem
To the first preset coordinate system.
Based on above embodiments and same idea, Fig. 6 shows a kind of calibration locating base station provided by the embodiments of the present application
The structural schematic diagram of the device of coordinate system, as shown in fig. 6, the device 600 of calibration locating base station coordinate system may include obtaining list
Member 601, determination unit 602 and converting unit 603.
The embodiment of the present application provides a kind of device for calibrating locating base station coordinate system, is suitable for including multiple positioning in region
The system of base station, any one locating base station in multiple locating base stations can receive the laser of at least one locating base station in system
Signal, the device include：Acquiring unit, for obtain the first locating base station the first inclination angle and the second locating base station second
Inclination angle, the first locating base station and the second locating base station are any of multiple locating base stations, determination unit, for according to the
The laser signal of received second locating base station of one locating base station determines that the first locating base station is sat in the part of the second locating base station
First position in mark system determines the second positioning base according to the laser signal of received first locating base station of the second locating base station
The second position stood in the local coordinate system of the first locating base station, converting unit, for according to the first inclination angle, the second inclination
The local coordinate system of first locating base station is converted to the first preset coordinate system and by second by angle, first position and the second position
The local coordinate system of locating base station is converted to the first preset coordinate system.
Include the system of multiple locating base stations in the embodiment of the present application, in region, calibrates the device of locating base station coordinate system
Obtain the first inclination angle of the first locating base station and the second inclination angle of the second locating base station, the first locating base station and the second positioning
Base station is any of multiple locating base stations, according to the laser signal of received second locating base station of the first locating base station, really
Fixed first position of first locating base station in the local coordinate system of the second locating base station, according to the second locating base station received the
The laser signal of one locating base station determines the second position of second locating base station in the local coordinate system of the first locating base station,
According to the first inclination angle, the second inclination angle, first position and the second position, the local coordinate system of the first locating base station is converted to
First preset coordinate system and the local coordinate system of the second locating base station is converted into the first preset coordinate system.In this way, the device can
All unifying multiple locating base stations in the system to same first preset coordinate system, so that being tracked no matter equipment receives
To the laser signal of which locating base station, the position for being tracked equipment can be gone in the first preset coordinate system, can be solved
Certainly user in the region with multiple locating base stations using when being tracked equipment occur disturbance locating the problem of.
In a kind of optional embodiment, converting unit is specifically used for：First locating base station is determined as reference location base
It stands, then determines that the first transformational relation, the first transformational relation are used for the local coordinate of the first locating base station according to the first inclination angle
System is converted to the first preset coordinate system, determines that second is fixed according to the first inclination angle, the second inclination angle, first position and the second position
Position deviation of the base station based on the first locating base station determines the second transformational relation according to the second inclination angle and deviation, second turn
Relationship is changed for the local coordinate system of the second locating base station to be converted to the first preset coordinate system.
In a kind of optional embodiment, converting unit is specifically used for：Is determined according to the first inclination angle and the second position
The third place of two locating base stations in the first preset coordinate system determines the first positioning base according to the second inclination angle and first position
The 4th position stood in the first preset coordinate system determines that the second locating base station is based on first according to the third place and the 4th position
The deviation of locating base station.
In a kind of optional embodiment, acquiring unit is specifically included：It is obtained by the accelerometer of the first locating base station
First acceleration of the first locating base station determines the first inclination angle according to the first acceleration and acceleration of gravity, fixed by second
The accelerometer of position base station obtains the second acceleration of the second locating base station, determines the according to the second acceleration and acceleration of gravity
Two inclinations angle.
In a kind of optional embodiment, system includes multiple subsystems, includes a reference location in any subsystem
Base station, mutually Phase Receiver laser signal, any subsystem are deposited between any locating base station in reference location base station and the subsystem
Between at least one adjacent subsystems, the reference location base station of adjacent subsystems and the reference location base station of the subsystem mutually
Laser signal is received, the first subsystem includes the first locating base station and the second locating base station, and the first locating base station is the first subsystem
The reference location base station of system, the second subsystem include third locating base station and the 4th locating base station, and third locating base station is second
The reference location base station of subsystem, the first subsystem and the second subsystem are the adjacent subsystems in multiple subsystems, are determined single
Member is also used to specifically for determining the first preset coordinate system of each locating base station based on the first locating base station in the first subsystem
Determine second preset coordinate system of each locating base station based on third locating base station, converting unit in the second subsystem, be also used to by
Second preset coordinate system of each locating base station in second subsystem, be converted to each locating base station in the second subsystem first are default
Coordinate system.
The device of calibration locating base station coordinate system provided by the embodiments of the present application, which is specifically described, can refer to above-described embodiment and mentions
The method of the calibration locating base station coordinate system of confession, repeats no more herein.
It should be noted that being schematical, only a kind of logic function to the division of unit in the embodiment of the present application
It divides, there may be another division manner in actual implementation.Each functional unit in the embodiment of the present application can integrate one
In a processing unit, it is also possible to each unit and physically exists alone, one can also be integrated in two or more units
In unit.Above-mentioned integrated unit both can take the form of hardware realization, can also be real in the form of software functional units
It is existing.
A kind of computer installation provided by the embodiments of the present application, the computer equipment may include memory, transceiver and
Processor.
Memory can be used for store instruction and data, and memory can include mainly store instruction area and storage data area, deposit
Storage data field can store incidence relation；It store instruction area can instruction needed for storage program area, at least one function etc.；Instruction
Processor can be made to execute following methods, specific method includes：Obtain the first inclination angle and the second positioning base of the first locating base station
The second inclination angle stood, the first locating base station and the second locating base station are any of multiple locating base stations, fixed according to first
The laser signal of received second locating base station in position base station, determines the first locating base station in the local coordinate system of the second locating base station
In first position determine that the second locating base station exists according to the laser signal of received first locating base station of the second locating base station
The second position in the local coordinate system of first locating base station, according to the first inclination angle, the second inclination angle, first position and second
The local coordinate system of first locating base station is converted to the first preset coordinate system and by the local coordinate of the second locating base station by position
System is converted to the first preset coordinate system.
Processor is the control centre of computer equipment, utilizes each portion of various interfaces and connection whole mobile phone
Point, by running or executing the instruction being stored in memory and calling is stored in data in memory, execute computer
The various functions and processing data of equipment.Optionally, processor may include one or more processing units；Optionally, processor
Application processor and modem processor can be integrated, wherein the main processing operation system of application processor, user interface and answer
With program etc., modem processor mainly handles wireless communication.In some embodiments, processor and memory can be in lists
It is realized on one chip, in some embodiments, they can also realize respectively on independent chip.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
Now, it when being realized using software program, can entirely or partly realize in the form of a computer program product.Computer program
Product includes one or more instructions.When loading on computers and executing computer program instructions, entirely or partly generate
According to the process or function of the embodiment of the present application.Computer can be general purpose computer, special purpose computer, computer network or
Other programmable devices of person.Instruction can store in computer storage medium, or from a computer storage medium to another
One computer storage medium transmission, for example, instruction can be logical from a web-site, computer, server or data center
Wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode are crossed to another
One web-site, computer, server or data center are transmitted.Computer storage medium can be computer and can deposit
Any usable medium taken either includes that the data storages such as one or more usable mediums integrated server, data center are set
It is standby.Usable medium can be magnetic medium, (for example, floppy disk, hard disk, tape, magneto-optic disk (MO) etc.), optical medium (for example, CD,
DVD, BD, HVD etc.) or semiconductor medium (such as ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH),
Solid state hard disk (Solid State Disk, SSD)) etc..
It should be understood by those skilled in the art that, the embodiment of the present application can provide as the production of method, system or computer program
Product.Therefore, in terms of the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes computer available programs generation that the embodiment of the present application, which can be used in one or more,
The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of calculation machine program product.
The embodiment of the present application is referring to according to the method, apparatus of the embodiment of the present application and the process of computer program product
Figure and/or block diagram describe.It should be understood that can by instruction implementation flow chart and/or block diagram each process and/or side
The combination of process and/or box in frame and flowchart and/or the block diagram.It can provide these to instruct to general purpose computer, specially
With the processor of computer, Embedded Processor or other programmable data processing devices to generate a machine, so that passing through
The instruction that computer or the processor of other programmable data processing devices execute generates for realizing in one process of flow chart
Or the device for the function of being specified in multiple processes and/or one or more blocks of the block diagram.
These instructions, which may also be stored in, is able to guide computer or other programmable data processing devices work in a specific way
Computer-readable memory in so that it is stored in the computer readable memory instruction generate include command device system
Product are made, which realizes in one or more flows of the flowchart and/or one or more blocks of the block diagram
Specified function.
These instructions also can be loaded onto a computer or other programmable data processing device so that computer or other
Series of operation steps are executed on programmable device to generate computer implemented processing, thus in computer or other are programmable
The instruction that executes in equipment is provided for realizing in one box of one or more flows of the flowchart and/or block diagram or more
The step of function of being specified in a box.
Obviously, those skilled in the art can carry out various modification and variations without departing from this Shen to the embodiment of the present application
Spirit and scope please.In this way, if these modifications and variations of the embodiment of the present application belong to the claim of this application and its wait
Within the scope of technology, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of method for calibrating locating base station coordinate system, which is characterized in that suitable for including multiple locating base stations in region
System, any one locating base station in the multiple locating base station can receive swashing at least one locating base station in the system
Optical signal；The method includes：
Obtain the first inclination angle of the first locating base station and the second inclination angle of the second locating base station；First locating base station and
Second locating base station is any of the multiple locating base station；
According to the laser signal of received second locating base station of first locating base station, first locating base station is determined
First position in the local coordinate system of second locating base station；
According to the laser signal of received first locating base station of second locating base station, second locating base station is determined
The second position in the local coordinate system of first locating base station；
According to first inclination angle, second inclination angle, the first position and the second position, described first is determined
The local coordinate system of position base station is converted to the first preset coordinate system and is converted to the local coordinate system of second locating base station
First preset coordinate system.
2. the method according to claim 1, wherein it is described according to first inclination angle, it is described second inclination
It is pre- to be converted to described first by angle, the first position and the second position for the local coordinate system of first locating base station
If coordinate system and the local coordinate system of second locating base station is converted to first preset coordinate system, including：
First locating base station is determined as reference location base station, then determines that the first conversion is closed according to first inclination angle
System；First transformational relation is used to the local coordinate system of first locating base station being converted to first preset coordinate
System；
Described second is determined according to first inclination angle, second inclination angle, the first position and the second position
Deviation of the locating base station based on first locating base station；
The second transformational relation is determined according to second inclination angle and the deviation；Second transformational relation is used for will be described
The local coordinate system of second locating base station is converted to first preset coordinate system.
3. according to the method described in claim 2, it is characterized in that, it is described according to first inclination angle, it is described second inclination
Angle, the first position and the second position determine deviation of second locating base station based on first locating base station
Value, including：
Determine second locating base station in first preset coordinate system according to first inclination angle and the second position
In the third place；
Determine first locating base station in first preset coordinate system according to second inclination angle and the first position
In the 4th position；
Determine second locating base station based on first locating base station according to the third place and the 4th position
Deviation.
4. method according to claim 1 to 3, which is characterized in that it is described obtain the first locating base station the first inclination angle and
Second inclination angle of the second locating base station, including：
The first acceleration that first locating base station is obtained by the accelerometer of first locating base station, according to described
One acceleration and acceleration of gravity determine first inclination angle；
The second acceleration that second locating base station is obtained by the accelerometer of second locating base station, according to described
Two acceleration and acceleration of gravity determine second inclination angle.
5. the method according to claim 1, wherein the system comprises multiple subsystems, in any subsystem
Including a reference location base station, mutual Phase Receiver swashs between any locating base station in the reference location base station and the subsystem
Optical signal；There are at least one adjacent subsystems, the reference location base station of the adjacent subsystems and the subsystems for any subsystem
Mutual Phase Receiver laser signal between the reference location base station of system；
First subsystem includes first locating base station and second locating base station, and first locating base station is described the
The reference location base station of one subsystem；Second subsystem includes third locating base station and the 4th locating base station, the third positioning
Base station is the reference location base station of second subsystem；First subsystem and second subsystem are the multiple son
Adjacent subsystems in system；
Determine first preset coordinate system based on first locating base station of each locating base station in first subsystem and
Determine second preset coordinate system of each locating base station based on the third locating base station in second subsystem；
By second preset coordinate system of each locating base station in second subsystem, be converted to each in second subsystem
First preset coordinate system of locating base station.
6. a kind of device for calibrating locating base station coordinate system, which is characterized in that suitable for including multiple locating base stations in region
System, any one locating base station in the multiple locating base station can receive swashing at least one locating base station in the system
Optical signal；Described device includes：
Acquiring unit, for obtaining the first inclination angle of the first locating base station and the second inclination angle of the second locating base station；It is described
First locating base station and second locating base station are any of the multiple locating base station；
Determination unit determines institute for the laser signal according to received second locating base station of first locating base station
State first position of first locating base station in the local coordinate system of second locating base station；According to second locating base station
The laser signal of received first locating base station determines second locating base station in the part of first locating base station
The second position in coordinate system；
Converting unit, for according to first inclination angle, second inclination angle, the first position and the second
It sets, the local coordinate system of first locating base station is converted into the first preset coordinate system and by the office of second locating base station
Portion's coordinate system is converted to first preset coordinate system.
7. device according to claim 6, which is characterized in that the converting unit is specifically used for：
First locating base station is determined as reference location base station, then determines that the first conversion is closed according to first inclination angle
System；First transformational relation is used to the local coordinate system of first locating base station being converted to first preset coordinate
System；
Described second is determined according to first inclination angle, second inclination angle, the first position and the second position
Deviation of the locating base station based on first locating base station；
The second transformational relation is determined according to second inclination angle and the deviation；Second transformational relation is used for will be described
The local coordinate system of second locating base station is converted to first preset coordinate system.
8. device according to claim 7, which is characterized in that the converting unit is specifically used for：
Determine second locating base station in first preset coordinate system according to first inclination angle and the second position
In the third place；
Determine first locating base station in first preset coordinate system according to second inclination angle and the first position
In the 4th position；
Determine second locating base station based on first locating base station according to the third place and the 4th position
Deviation.
9. according to device described in claim 6-8, which is characterized in that the acquiring unit specifically includes：
The first acceleration that first locating base station is obtained by the accelerometer of first locating base station, according to described
One acceleration and acceleration of gravity determine first inclination angle；
The second acceleration that second locating base station is obtained by the accelerometer of second locating base station, according to described
Two acceleration and acceleration of gravity determine second inclination angle.
10. device according to claim 6, which is characterized in that the system comprises multiple subsystems, in any subsystem
Including a reference location base station, mutual Phase Receiver swashs between any locating base station in the reference location base station and the subsystem
Optical signal；There are at least one adjacent subsystems, the reference location base station of the adjacent subsystems and the subsystems for any subsystem
Mutual Phase Receiver laser signal between the reference location base station of system；
First subsystem includes first locating base station and second locating base station, and first locating base station is described the
The reference location base station of one subsystem；Second subsystem includes third locating base station and the 4th locating base station, the third positioning
Base station is the reference location base station of second subsystem；First subsystem and second subsystem are the multiple son
Adjacent subsystems in system；
The determination unit, specifically for each locating base station in determination first subsystem based on first locating base station
First preset coordinate system；It is also used to determine that each locating base station is based on the third locating base station in second subsystem
Second preset coordinate system；
The converting unit is also used to second preset coordinate system of each locating base station in second subsystem, conversion
For first preset coordinate system of each locating base station in second subsystem.
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| CN108872937B (en) | 2020-11-13 |
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