CN109218967A - UWB system locating base station scaling method and its equipment - Google Patents
UWB system locating base station scaling method and its equipment Download PDFInfo
- Publication number
- CN109218967A CN109218967A CN201811179605.6A CN201811179605A CN109218967A CN 109218967 A CN109218967 A CN 109218967A CN 201811179605 A CN201811179605 A CN 201811179605A CN 109218967 A CN109218967 A CN 109218967A
- Authority
- CN
- China
- Prior art keywords
- base station
- calibrated
- target
- true
- coordinate value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the present invention discloses a kind of UWB system locating base station scaling method and its equipment, wherein method includes the following steps: to obtain the data transmission period in UWB positioning system based on UWB transmission channel communication data between target BS and base station to be calibrated, and the base station distance between target BS and base station to be calibrated is calculated according to the time and message transmission rate；Target BS and base station to be calibrated are obtained using current localizing environment as the true coordinate value in reference coordinate system, and azimuth of the two based on reference frame, the coordinate distance between target BS and the true coordinate value of base station to be calibrated is calculated again, according to the relationship and azimuth adjustment true coordinate value to be calibrated between coordinate distance and base station distance.Using the present invention, pass through the coordinate of Accurate Calibration target BS, according to the coordinate value of the base station to be calibrated of the accurate distance adjustment manual measurement between target BS and base station to be calibrated, the precision of base station calibration can be improved, and then the accuracy of UWB positioning system can be improved.
Description
Technical field
The present invention relates to wireless location technology field more particularly to a kind of UWB system locating base station scaling method and its set
It is standby.
Background technique
Current common wireless location technology mainly has WiFi technology, infrared technique, ultrasonic wave positioning, ultra wide band UWB fixed
Position and bluetooth positioning etc..Wherein, UWB location technology is one kind that comprehensive performance is best in above-mentioned wireless location technology, and UWB is fixed
Position system at least needs three locating base stations and several positioning labels to form, before being positioned, accurate measurement and positioning base
The position stood is that UWB positioning system carries out location base.In the prior art, in order to generally use the cost of low positioning system
The locating base station in calibrating and positioning scene is manually measured, such as calibration is manually measured by measuring scale, however it is artificial
The precision of the locating base station of calibration is not high, affects the accuracy of UWB positioning system.
Summary of the invention
The embodiment of the present invention provides a kind of UWB system locating base station scaling method and its equipment and passes through Accurate Calibration target base
The coordinate stood, according to the coordinate of the base station to be calibrated of the accurate distance adjustment manual measurement between target BS and base station to be calibrated
Value can improve the precision of base station calibration while maintaining the characteristic of low cost of manual measurement, and then UWB positioning can be improved
The accuracy of system.
First aspect of the embodiment of the present invention provides a kind of UWB system locating base station scaling method, it may include:
Based on UWB transmission channel communication data between target BS and base station to be calibrated in acquisition UWB positioning system
Data transmission period calculates the target BS and the base to be calibrated according to the data transmission period and message transmission rate
Base station distance between standing, the target BS are an optional base station in the UWB positioning system, the base station to be calibrated
It include at least three base stations to be calibrated for other base stations in the UWB positioning system in addition to the target BS；
The target BS and the base station to be calibrated are obtained using current localizing environment to be true in reference coordinate system
Azimuth based on the reference frame between coordinate value and the target BS and the base station to be calibrated, it is described true
Coordinate value is to measure resulting coordinate value, target true coordinate value and the base station to be calibrated including the target BS to
Demarcate true coordinate value；
The coordinate distance between the target BS and the true coordinate value of the base station to be calibrated is calculated, according to the seat
Relationship and the azimuth between subject distance and the base station distance adjust the true coordinate value to be calibrated.
Second aspect of the embodiment of the present invention provides a kind of base station calibration facility, it may include:
Distance calculation module is believed between target BS and base station to be calibrated based on UWB transmission for obtaining in UWB positioning system
Road transmits the data transmission period of communication data, calculates the target base according to the data transmission period and message transmission rate
The base station distance stood between the base station to be calibrated, the target BS are an optional base in the UWB positioning system
It stands, the base station to be calibrated is that other base stations in the UWB positioning system in addition to the target BS include at least three
Base station to be calibrated；
True value obtains module, is being ginseng with current localizing environment for obtaining the target BS and the base station to be calibrated
According between true coordinate value and the target BS in coordinate system and the base station to be calibrated based on the reference frame
Azimuth, the true coordinate value are to measure resulting coordinate value, target true coordinate value and institute including the target BS
State the true coordinate value to be calibrated of base station to be calibrated；
True value adjusts module, for calculating the seat between the target BS and the true coordinate value of the base station to be calibrated
Subject distance, according between the coordinate distance and the base station distance relationship and azimuth adjustment it is described to be calibrated true
Real coordinate value.
In embodiments of the present invention, it is passed between target BS and base station to be calibrated based on UWB by obtaining in UWB positioning system
The data transmission period of defeated transmission communication data, according to data transmission period and message transmission rate calculate target BS with
Then base station distance between base station to be calibrated obtains target BS and base station to be calibrated using current localizing environment as reference coordinates
True coordinate value in system finally calculates true coordinate value coordinate distance between any two and target BS and base to be calibrated
Based on the azimuth of reference frame between standing, finally according between coordinate distance and the base station distance relationship and azimuth
Adjust true coordinate value to be calibrated.By the coordinate of Accurate Calibration target BS, according between target BS and base station to be calibrated
Accurate distance adjusts the coordinate value of the base station to be calibrated of manual measurement, improves while maintaining the characteristic of low cost of manual measurement
The precision of base station calibration, and then improve the accuracy of UWB positioning system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
UBW system locating base station scaling method provided in an embodiment of the present invention can be applied to manual measurement (for example, people
Work is measured by ranging rod) calibrated error it is larger when, in order to maintain inexpensive measurement method while reduce measurement error
Application scenarios.
Fig. 1 is a kind of flow diagram of UWB system locating base station scaling method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another kind UWB system locating base station scaling method method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of base station calibration facility provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of distance calculation module provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram that true value provided in an embodiment of the present invention obtains module；
Fig. 6 is the structural schematic diagram of true value adjustment module provided in an embodiment of the present invention.
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.
The present embodiments relate to monitoring device may include tablet computer, personal computer (PC), smart phone, the palm
The terminal devices such as upper computer and mobile internet device (MID).
Below in conjunction with attached drawing 1 and attached drawing 2, to the sweeping robot monitoring side provided in an embodiment of the present invention based on UWB
Method describes in detail.
Referring to Figure 1, for the embodiment of the invention provides a kind of signals of the process of UWB system locating base station scaling method
Figure.As shown in Figure 1, the embodiment of the present invention the method may include following steps S101- step S104.
S101 is obtained in UWB positioning system and is communicated number based on UWB transmission channel between target BS and base station to be calibrated
According to data transmission period, the target BS is calculated with described wait mark according to the data transmission period and message transmission rate
Determine the base station distance between base station.
Specifically, UWB is based in the available UWB positioning system of base station calibration facility between target BS and base station to be calibrated
The data transmission period of transmission channel communication data, it is to be understood that the target BS can be ultra wide band
Any one base station in (Ultra-Wideband, UWB) positioning system.Optionally, when the base station calibration facility detects
It is available to send the communication when being based on UWB transmission channel communication data between the target BS and base station to be calibrated
First time of one side of data stabs, and receives the second timestamp of one side of communication data, it is to be understood that it is described to
Calibration base station can be other all base stations in the UWB positioning system in addition to the target BS, the target BS and
The base station to be calibrated can be used as the sender or recipient of communication data, and further, the base station calibration facility can
To calculate the data between the target BS and the base station to be calibrated according to first time stamp and second timestamp
Transmission time, for example, the second timestamp corresponding time subtracts one that the first time stabs that the corresponding time obtains
Period is exactly the data transmission period.It is understood that the first He in above-mentioned first time stamp and the second timestamp
Second, just for the sake of difference name, does not represent specific sequence.
Further, the base station calibration facility can calculate institute according to the data transmission period and message transmission rate
State the base station distance between target BS and the base station to be calibrated, it is to be understood that in wireless communications environment unanimous circumstances
Under, it is believed that the message transmission rate between all base stations in the UWB system is consistent, and specific numerical value can be according to described
The factors such as transmission frequency, the carrier bandwidths of communication data are calculated.For example, when the data transmission period is t, the data
When transmission rate is k, the base station distance is d=t*k.It is understood that since the base station to be calibrated is fixed for the UWB
Other all base stations in the system of position in addition to the target BS, the data transmission period are corresponding for UWB positioning system
All base stations of other in system carry out the data transmission period communicated with the target BS.
S102 obtains the target BS and the base station to be calibrated using current localizing environment as in reference coordinate system
Azimuth based on the reference frame between true coordinate value and the target BS and the base station to be calibrated.
Specifically, the available target BS of base station calibration facility and the base station to be calibrated are with currently fixed
Position environment is the true coordinate value in reference coordinate system, it is to be understood that the true coordinate value is to measure resulting coordinate
Value, may include the target true coordinate value of the target BS and the true coordinate value to be calibrated of the base station to be calibrated.It can
Choosing, it is reference that the base station calibration facility can obtain the target BS in current localizing environment based on UWB location technology
Target true coordinate value in coordinate system, such as can be (x1, y1), the target true coordinate value can be the target base
The coordinate points for the true calibration position stood in current localizing environment, the base station calibration facility can also be marked using other base stations
Determine the true coordinate value that technology measures the target BS.In order to reduce technical costs, the base station calibration facility is available
The true coordinate value to be calibrated of the base station to be calibrated of user's input, user can be measured by the way of manual measurement wait mark
Determine true coordinate value of the base station in current localizing environment, such as can be (x2, y2), wherein the manual measurement method can be with
It is the measurement manually carried out by measuring scale, this method measurement cost is lower, but measurement error is larger.
Further, the base station calibration facility can based on target BS described in arriving signal angle measurement and it is described to
Azimuth based on the reference frame between calibration base station.
S103 calculates the coordinate distance between the target BS and the true coordinate value of the base station to be calibrated, according to
Relationship and the azimuth between the coordinate distance and the base station distance adjust the true coordinate value to be calibrated.
Specifically, the base station calibration facility can calculate the true coordinate of the target BS and the base station to be calibrated
Coordinate distance between value, for example, the target BS and the coordinate distance of one of them base station to be calibrated can beIt further, can be according between the coordinate distance and the base station distance
Relationship adjusts the true coordinate value to be calibrated.Optionally, the base station calibration facility can calculate the coordinate distance and institute
The difference between base station distance is stated, such as the difference can be Δ d=d-d ', then uses the difference and the azimuth
Modify the true coordinate value to be calibrated, it is to be understood that the azimuth can determine the base station to be calibrated and described
Actual position relationship of the target BS in the reference frame, the difference can be the target BS and any wait mark
Determine azimuth between base station it is consistent when, the error between measured value and calculated value.Optionally, the base station calibration facility can also be with
According to the coordinate distance, the base station distance and the azimuth, calculate between the target BS and any base station to be calibrated
Difference when azimuth is inconsistent, then using the most true coordinate values to be calibrated of difference adjustment.
In embodiments of the present invention, it is passed between target BS and base station to be calibrated based on UWB by obtaining in UWB positioning system
The data transmission period of defeated transmission communication data, according to data transmission period and message transmission rate calculate target BS with
Then base station distance between base station to be calibrated obtains target BS and base station to be calibrated using current localizing environment as reference coordinates
True coordinate value in system finally calculates true coordinate value coordinate distance between any two and target BS and base to be calibrated
Based on the azimuth of reference frame between standing, finally according between coordinate distance and the base station distance relationship and azimuth
Adjust true coordinate value to be calibrated.By the coordinate of Accurate Calibration target BS, according between target BS and base station to be calibrated
Accurate distance adjusts the coordinate value of the base station to be calibrated of manual measurement, improves while maintaining the characteristic of low cost of manual measurement
The precision of base station calibration, and then improve the accuracy of UWB positioning system.
Fig. 2 is referred to, for the embodiment of the invention provides the signals of the process of another UWB system locating base station scaling method
Figure.As shown in Fig. 2, the embodiment of the present invention the method may include following steps S201- step S208.
S201 is led between target BS and base station to be calibrated based on UWB transmission channel when detecting in UWB positioning system
When letter data, the first time stamp for sending one side of communication data is obtained, and receive the second of one side of communication data
Timestamp.
Specifically, being transmitted between the target BS and base station to be calibrated based on UWB when the base station calibration facility detects
When transmission communication data, the available first time stamp for sending one side of communication data, and receive the communication
The second timestamp of one side of data, it is to be understood that the base station to be calibrated can be in the UWB positioning system except described
Other all base stations outside target BS, the target BS and the base station to be calibrated can be used as the transmission of communication data
Side or recipient.
S202 calculates the target BS and the base to be calibrated according to first time stamp and second timestamp
Data transmission period between standing.
Specifically, the base station calibration facility can be according to stabbing the first time and second timestamp calculates
Data transmission period between target BS and the base station to be calibrated, for example, the second timestamp corresponding time subtracts institute
Stating and stabbing the period that the corresponding time obtains at the first time is exactly the first data transmission time.It is understood that
First and second in above-mentioned first time stamp and the second timestamp name just for the sake of difference, do not represent specific sequence.
S203 calculates the target BS and the base to be calibrated according to the data transmission period and message transmission rate
Base station distance between standing.
Specifically, the base station calibration facility can be according to the data transmission period and message transmission rate calculating
Base station distance between target BS and the base station to be calibrated, it is to be understood that under wireless communications environment unanimous circumstances,
It can consider that the message transmission rate between all base stations in the UWB system is consistent, specific numerical value can be according to described logical
The factors such as transmission frequency, the carrier bandwidths of letter data are calculated.For example, when the data transmission period is t, the data are passed
When defeated rate is k, the base station distance is d=t*k.It is understood that since the base station to be calibrated is UWB positioning
Other all base stations in system in addition to the target BS, the corresponding data transmission period is the UWB positioning system
In other all base stations carry out the data transmission period communicated with the target BS.
S204, obtaining the target BS in current localizing environment based on UWB location technology is the mesh in reference coordinate system
Mark true coordinate value.
Specifically, the base station calibration facility, which can obtain the target BS based on UWB location technology, is working as prelocalization
Environment is the target true coordinate value in reference coordinate system, it is to be understood that the reference frame can be described current fixed
Coordinate system in the true positioning map of position environment, the target true coordinate value may be considered the target BS described
True coordinate value in reference frame.Optionally, the base station calibration facility can also accurately be marked using other location technologies
The true coordinate value of the fixed target BS, the target true coordinate value can be (x1, y1).
S205 obtains the true coordinate value to be calibrated of the base station to be calibrated of user's input.
It should be noted that the base station to be calibrated of the available user's input of base station calibration facility is to be calibrated
True coordinate value, user can measure true coordinate of the base station to be calibrated in current localizing environment by the way of manual measurement
Value, such as can be (x2, y2), wherein the manual measurement method can be the measurement manually carried out by measuring scale, the party
Method measurement cost is lower, but measurement error is larger.
In embodiments of the present invention, the target true coordinate value of precise measurement target BS, other base stations to be calibrated are only needed
Coordinate value can be obtained using the not high measurement means of measurement accuracy, reduce the technical costs in the calibration process of base station.
S206 calculates the coordinate distance between the target true coordinate value and the true coordinate value to be calibrated.
Specifically, the base station calibration facility can calculate the true coordinate of the target BS and the base station to be calibrated
Coordinate distance between value, for example, the target BS and the coordinate distance of one of them base station to be calibrated can be
S207 calculates the difference between the coordinate distance and the base station distance.
Specifically, the base station calibration facility can calculate the difference between the coordinate distance and the base station distance,
Such as the difference can be Δ d=d-d,.It is understood that the difference can be the target BS and any wait mark
Determine azimuth between base station it is consistent when, the error between measured value and calculated value.In an alternative embodiment, the base station calibration is set
It is standby the target BS and any wait mark to be calculated according to the coordinate distance, the base station distance and the azimuth
Determine azimuth between base station it is inconsistent when difference.
S208 modifies the true coordinate value to be calibrated using the difference and the azimuth.
Specifically, the base station calibration facility can be described to be calibrated true using the difference and azimuth modification
Coordinate value, it is to be understood that the azimuth can determine the base station to be calibrated and the target BS in the reference
Actual position relationship in coordinate system.
In embodiments of the present invention, it is passed between target BS and base station to be calibrated based on UWB by obtaining in UWB positioning system
The data transmission period of defeated transmission communication data, according to data transmission period and message transmission rate calculate target BS with
Then base station distance between base station to be calibrated obtains target BS and base station to be calibrated using current localizing environment as reference coordinates
True coordinate value in system finally calculates true coordinate value coordinate distance between any two and target BS and base to be calibrated
Based on the azimuth of reference frame between standing, finally according between coordinate distance and the base station distance relationship and azimuth
Adjust true coordinate value to be calibrated.By the coordinate of Accurate Calibration target BS, according between target BS and base station to be calibrated
Accurate distance adjusts the coordinate value of the base station to be calibrated of manual measurement, improves the precision of base station calibration, and then it is fixed to improve UWB
The accuracy of position system；Due to only needing the target true coordinate value of precise measurement target BS, the coordinate of other base stations to be calibrated
Value can be obtained using the not high measurement means of measurement accuracy, reduce the technical costs in the calibration process of base station.
Below in conjunction with attached drawing 3- attached drawing 6, describe in detail to base station calibration facility provided in an embodiment of the present invention.It needs
The attached base station calibration facility shown in fig. 6 of attached drawing 3- is noted that, for executing the side of Fig. 1 of the present invention and embodiment illustrated in fig. 2
Method, for ease of description, only parts related to embodiments of the present invention are shown, disclosed by specific technical details, please refers to
Fig. 1 of the present invention and embodiment shown in Fig. 2.
Fig. 3 is referred to, for the embodiment of the invention provides a kind of structural schematic diagrams of base station calibration facility.As shown in figure 3,
The base station calibration facility 1 of the embodiment of the present invention may include: distance calculation module 11, true value acquisition module 12 and true value tune
Mould preparation block 13.
Distance calculation module 11 is transmitted between target BS and base station to be calibrated based on UWB for obtaining in UWB positioning system
The data transmission period of transmission communication data calculates the target according to the data transmission period and message transmission rate
Base station distance between base station and the base station to be calibrated.
In the specific implementation, in the available UWB positioning system of distance calculation module 11 between target BS and base station to be calibrated
Based on the data transmission period of UWB transmission channel communication data, and can be passed according to the data transmission period and data
Base station distance between target BS described in defeated rate calculations and the base station to be calibrated.
Specifically, please also refer to Fig. 4, for the embodiment of the invention provides the structural schematic diagrams of distance calculation module.Such as
Shown in Fig. 4, the distance calculation module 11 may include:
Timestamp acquiring unit 111 is based between target BS and base station to be calibrated for that ought detect in UWB positioning system
When UWB transmission channel communication data, the first time stamp for sending one side of communication data is obtained, and is received described logical
The second timestamp of one side of letter data.
In the specific implementation, when timestamp is obtained when 111 detect between the target BS and base station to be calibrated based on UWB biography
When defeated transmission communication data, the distance calculation module 11 available first time for sending one side of communication data
Stamp, and receive the second timestamp of one side of communication data, it is to be understood that the base station to be calibrated can be described
Other all base stations in UWB positioning system in addition to the target BS, the target BS and the base station to be calibrated
Using the sender or recipient as communication data.
Time calculating unit 112, according to first time stamp and second timestamp calculate the target BS and
The first data transmission time between the base station to be calibrated.
In the specific implementation, time calculating unit 112 can be stabbed according to the first time and second timestamp calculates
Data transmission period between the target BS and the base station to be calibrated, for example, the second timestamp corresponding time subtracts
Going the first time to stab the period that the corresponding time obtains is exactly the data transmission period.It is understood that
First and second in above-mentioned first time stamp and the second timestamp name just for the sake of difference, do not represent specific sequence.
Further, the distance calculation module 11 can be calculated according to the data transmission period and message transmission rate
Base station distance between the target BS and the base station to be calibrated, it is to be understood that in the consistent feelings of wireless communications environment
Under condition, it is believed that the message transmission rate between all base stations in the UWB system is consistent, and specific numerical value can be according to institute
The factors such as transmission frequency, the carrier bandwidths of communication data are stated to be calculated.For example, when the data transmission period is t, the number
According to transmission rate be k when, the base station distance be d=t*k.It is understood that since the base station to be calibrated is the UWB
Other all base stations in positioning system in addition to the target BS, the data transmission period is corresponding to be positioned for the UWB
All base stations of other in system carry out the data transmission period communicated with the target BS.
True value obtains module 12, is being with current localizing environment for obtaining the target BS and the base station to be calibrated
The reference frame is based between true coordinate value and the target BS and the base station to be calibrated in reference coordinate system
Azimuth.
In the specific implementation, true value obtains the available target BS of module 12 and the base station to be calibrated with current
Localizing environment is between true coordinate value and the target BS and the base station to be calibrated in reference coordinate system based on described
The azimuth of reference frame.
Specifically, please also refer to Fig. 5, for the embodiment of the invention provides the structural schematic diagrams that true value obtains module.Such as
Shown in Fig. 5, the true value obtains module 12 and may include:
Target true value acquiring unit 121, for obtaining the target BS in current localizing environment based on UWB location technology
For the target true coordinate value in reference coordinate system.
Working as in the specific implementation, target true value acquiring unit 121 can obtain the target BS based on UWB location technology
Prelocalization environment is the target true coordinate value in reference coordinate system, it is to be understood that the reference frame can be described
Coordinate system in the true positioning map of current localizing environment, the target true coordinate value may be considered the target BS
True coordinate value in the reference frame.Optionally, the target true value acquiring unit 121 can also be fixed using other
The true coordinate value of target BS described in the technology Accurate Calibration of position, the target true coordinate value can be (x1, y1).
True value acquiring unit 122 to be calibrated, the true seat to be calibrated of the base station to be calibrated for obtaining user's input
Scale value.
It should be noted that the base station to be calibrated of true value acquiring unit 122 to be calibrated available user input
True coordinate value to be calibrated, it is true in current localizing environment that user can measure base station to be calibrated by the way of manual measurement
Real coordinate value, such as can be (x2, y2), wherein the manual measurement method can be the survey manually carried out by measuring scale
Amount, this method measurement cost is lower, but measurement error is larger.
In embodiments of the present invention, the target true coordinate value of precise measurement target BS, other base stations to be calibrated are only needed
Coordinate value can be obtained using the not high measurement means of measurement accuracy, reduce the technical costs in the calibration process of base station.
Further, the true value, which obtains module 12, can calculate the true of the target BS and the base station to be calibrated
Coordinate distance between coordinate value, for example, the target BS and the coordinate distance of one of them base station to be calibrated can be
True value adjusts module 13, for calculating between the target BS and the true coordinate value of the base station to be calibrated
Coordinate distance, according between the coordinate distance and the base station distance relationship and the azimuth adjustment it is described to be calibrated
True coordinate value.
In the specific implementation, true value adjustment module 13 can calculate the true seat of the target BS and the base station to be calibrated
Coordinate distance between scale value, and can be according to the relationship and the orientation between the coordinate distance and the base station distance
Angle adjusts the true coordinate value to be calibrated.
Specifically, please also refer to Fig. 6, for the embodiment of the invention provides the structural schematic diagrams that true value adjusts module.Such as
Shown in Fig. 6, the true value adjustment module 13 may include:
Difference computational unit 131, for calculating the difference between the coordinate distance and the base station distance.
In the specific implementation, difference computational unit 131 can calculate the difference between the coordinate distance and the base station distance
Value, such as the difference can be Δ d=d-d,.It is understood that the difference can be the target BS and any
Error when azimuth is consistent between base station to be calibrated, between measured value and calculated value.In an alternative embodiment, the difference meter
The target BS can also be calculated and appoint according to the coordinate distance, the base station distance and the azimuth by calculating unit 131
Difference when one azimuth between base station to be calibrated is inconsistent.
True value modifies unit 132, for modifying the true coordinate value to be calibrated using the difference and the azimuth.
In the specific implementation, true value modification unit 132 can be described to be calibrated using the difference and azimuth modification
True coordinate value, it is to be understood that the azimuth can determine the base station to be calibrated and the target BS described
Actual position relationship in reference frame.
In embodiments of the present invention, it is passed between target BS and base station to be calibrated based on UWB by obtaining in UWB positioning system
The data transmission period of defeated transmission communication data, according to data transmission period and message transmission rate calculate target BS with
Then base station distance between base station to be calibrated obtains target BS and base station to be calibrated using current localizing environment as reference coordinates
True coordinate value in system finally calculates true coordinate value coordinate distance between any two and target BS and base to be calibrated
Based on the azimuth of reference frame between standing, finally according between coordinate distance and the base station distance relationship and azimuth
Adjust true coordinate value to be calibrated.By the coordinate of Accurate Calibration target BS, according between target BS and base station to be calibrated
Accurate distance adjusts the coordinate value of the base station to be calibrated of manual measurement, improves the precision of base station calibration, and then it is fixed to improve UWB
The accuracy of position system；Due to only needing the target true coordinate value of precise measurement target BS, the coordinate of other base stations to be calibrated
Value can be obtained using the not high measurement means of measurement accuracy, reduce the technical costs in the calibration process of base station.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (8)
1. a kind of UWB system locating base station scaling method, which is characterized in that the described method includes:
Obtain the data in UWB positioning system based on UWB transmission channel communication data between target BS and base station to be calibrated
Transmission time calculates between the target BS and the base station to be calibrated according to the data transmission period and message transmission rate
Base station distance, the target BS is an optional base station in the UWB positioning system, and the base station to be calibrated is institute
Stating other base stations in UWB positioning system in addition to the target BS includes at least three base stations to be calibrated；
The target BS and the base station to be calibrated are obtained using current localizing environment as the true coordinate in reference coordinate system
Azimuth based on the reference frame between value and the target BS and the base station to be calibrated, the true coordinate
Value to measure resulting coordinate value, target true coordinate value and the base station to be calibrated including the target BS it is to be calibrated
True coordinate value, wherein the true coordinate value to be calibrated is the artificial coordinate value that calibration is measured using measuring scale；
Calculate the coordinate distance between the target BS and the true coordinate value of the base station to be calibrated, according to the coordinate away from
From the relationship and the azimuth adjustment true coordinate value to be calibrated between the base station distance.
2. the method according to claim 1, wherein obtain UWB positioning system in target BS with it is to be calibrated
When data transmission period based on UWB transmission channel communication data between base station, which comprises
When detecting in UWB positioning system between target BS and base station to be calibrated based on UWB transmission channel communication data,
The first time stamp for sending one side of communication data is obtained, and receives the second timestamp of one side of communication data；
The number between the target BS and the base station to be calibrated is calculated according to first time stamp and second timestamp
According to transmission time.
3. the method according to claim 1, wherein existing in the acquisition target BS and the base station to be calibrated
When using current localizing environment as the true coordinate value in reference coordinate system, which comprises
Obtaining the target BS in current localizing environment based on UWB location technology is the target true coordinate in reference coordinate system
Value；
Obtain the true coordinate value to be calibrated of the base station to be calibrated of user's input.
4. the method according to claim 1, wherein according between the coordinate distance and the base station distance
Relationship and the azimuth adjust the true coordinate value to be calibrated when, which comprises
Calculate the difference between the coordinate distance and the base station distance；
The true coordinate value to be calibrated is modified using the difference and the azimuth.
5. a kind of base station calibration facility, which is characterized in that the equipment includes:
Distance calculation module is passed between target BS and base station to be calibrated based on UWB transmission channel for obtaining in UWB positioning system
The data transmission period of defeated communication data, according to the data transmission period and message transmission rate calculate the target BS with
Base station distance between the base station to be calibrated, the target BS are an optional base station in the UWB positioning system, institute
It includes at least three to be calibrated that base station to be calibrated, which is stated, as other base stations in the UWB positioning system in addition to the target BS
Base station；
True value obtains module, sits for obtaining the target BS and the base station to be calibrated with current localizing environment for reference
Orientation based on the reference frame between true coordinate value and the target BS and the base station to be calibrated in mark system
Angle, the true coordinate value are to measure resulting coordinate value, target true coordinate value including the target BS and it is described to
Demarcate the true coordinate value to be calibrated of base station, wherein the true coordinate value to be calibrated is manually to measure using measuring scale
The coordinate value of calibration；
True value adjust module, for calculate the coordinate between the target BS and the true coordinate value of the base station to be calibrated away from
From according to the relationship and the azimuth adjustment true seat to be calibrated between the coordinate distance and the base station distance
Scale value.
6. equipment according to claim 5, which is characterized in that the distance calculation module includes:
Timestamp acquiring unit detects that being based on UWB in UWB positioning system between target BS and base station to be calibrated transmits for working as
When transmission communication data, the first time stamp for sending one side of communication data is obtained, and receive the communication data
The second timestamp of one side；
Time calculating unit calculates the target BS with described wait mark according to first time stamp and second timestamp
Determine the first data transmission time between base station.
7. equipment according to claim 5, which is characterized in that the true value obtains module and includes:
Target true value acquiring unit is reference for obtaining the target BS in current localizing environment based on UWB location technology
Target true coordinate value in coordinate system；
True value acquiring unit to be calibrated, the true coordinate value to be calibrated of the base station to be calibrated for obtaining user's input.
8. equipment according to claim 5, which is characterized in that the true value adjusts module and includes:
Difference computational unit, for calculating the difference between the coordinate distance and the base station distance；
True value modifies unit, for modifying the true coordinate value to be calibrated using the difference and the azimuth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179605.6A CN109218967A (en) | 2018-10-10 | 2018-10-10 | UWB system locating base station scaling method and its equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179605.6A CN109218967A (en) | 2018-10-10 | 2018-10-10 | UWB system locating base station scaling method and its equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109218967A true CN109218967A (en) | 2019-01-15 |
Family
ID=64982957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811179605.6A Pending CN109218967A (en) | 2018-10-10 | 2018-10-10 | UWB system locating base station scaling method and its equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109218967A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946646A (en) * | 2019-03-18 | 2019-06-28 | 北斗万春（重庆）智能机器人研究院有限公司 | Intelligent grass-removing robot electronic fence system |
| CN110022574A (en) * | 2019-04-16 | 2019-07-16 | 江苏科技大学 | A kind of method of automatic configuration of UWB indoor positioning base station |
| CN110049502A (en) * | 2019-03-27 | 2019-07-23 | 中国科学院计算技术研究所 | A kind of wireless location method and system |
| CN110290463A (en) * | 2019-08-05 | 2019-09-27 | 杭州智鹍科技有限公司 | UWB base station coordinates automatic calibration method and system based on Optimum Theory |
| CN110290456A (en) * | 2019-05-20 | 2019-09-27 | 深圳壹账通智能科技有限公司 | The localization method and device of target object |
| CN110572779A (en) * | 2019-08-30 | 2019-12-13 | 南京沃旭通讯科技有限公司 | System error estimation method of base station based on ToF model |
| CN110784822A (en) * | 2019-10-31 | 2020-02-11 | 广东博智林机器人有限公司 | Base station, base station positioning method and corresponding equipment |
| CN111200869A (en) * | 2019-12-25 | 2020-05-26 | 郑州联睿电子科技有限公司 | Device and system integrating UWB single base station positioning and wireless data transmission |
| CN111970639A (en) * | 2020-09-02 | 2020-11-20 | Tcl通讯（宁波）有限公司 | Method, device, terminal equipment and storage medium for keeping safe distance |
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN112399556A (en) * | 2020-11-11 | 2021-02-23 | Oppo广东移动通信有限公司 | Network connection method, terminal and computer storage medium |
| CN112969137A (en) * | 2021-02-02 | 2021-06-15 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN113271566A (en) * | 2021-04-06 | 2021-08-17 | 电子科技大学 | Method and device for detecting communication field intensity time slot of high-speed maglev train |
| CN113766415A (en) * | 2020-06-02 | 2021-12-07 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN113923772A (en) * | 2021-10-19 | 2022-01-11 | 深圳市优必选科技股份有限公司 | Base station calibration method and device, computer equipment and storage medium |
| CN114430524A (en) * | 2021-12-30 | 2022-05-03 | 杭州海康威视数字技术股份有限公司 | Ultra-wideband base station calibration method and device and electronic equipment |
| CN115066012A (en) * | 2022-02-25 | 2022-09-16 | 西安电子科技大学 | Multi-user anchor-free positioning method based on UWB |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102833848A (en) * | 2011-06-17 | 2012-12-19 | 华为技术有限公司 | Method, device and system for positioning mobile station |
| CN103458500A (en) * | 2012-06-04 | 2013-12-18 | 华为技术有限公司 | Method and device for positioning user equipment |
| JP2014070923A (en) * | 2012-09-27 | 2014-04-21 | Denso Wave Inc | Rfid tag positioning system |
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN106990389A (en) * | 2017-03-30 | 2017-07-28 | 四川中电昆辰科技有限公司 | The method for setting up coordinate system in alignment system between base station |
-
2018
- 2018-10-10 CN CN201811179605.6A patent/CN109218967A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102833848A (en) * | 2011-06-17 | 2012-12-19 | 华为技术有限公司 | Method, device and system for positioning mobile station |
| CN103458500A (en) * | 2012-06-04 | 2013-12-18 | 华为技术有限公司 | Method and device for positioning user equipment |
| JP2014070923A (en) * | 2012-09-27 | 2014-04-21 | Denso Wave Inc | Rfid tag positioning system |
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN106990389A (en) * | 2017-03-30 | 2017-07-28 | 四川中电昆辰科技有限公司 | The method for setting up coordinate system in alignment system between base station |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946646A (en) * | 2019-03-18 | 2019-06-28 | 北斗万春（重庆）智能机器人研究院有限公司 | Intelligent grass-removing robot electronic fence system |
| CN110049502A (en) * | 2019-03-27 | 2019-07-23 | 中国科学院计算技术研究所 | A kind of wireless location method and system |
| CN110049502B (en) * | 2019-03-27 | 2021-07-23 | 中国科学院计算技术研究所 | Wireless positioning method and system |
| CN110022574A (en) * | 2019-04-16 | 2019-07-16 | 江苏科技大学 | A kind of method of automatic configuration of UWB indoor positioning base station |
| CN110290456A (en) * | 2019-05-20 | 2019-09-27 | 深圳壹账通智能科技有限公司 | The localization method and device of target object |
| CN110290463B (en) * | 2019-08-05 | 2021-03-12 | 杭州智鹍科技有限公司 | UWB base station coordinate automatic calibration method and system based on optimization theory |
| CN110290463A (en) * | 2019-08-05 | 2019-09-27 | 杭州智鹍科技有限公司 | UWB base station coordinates automatic calibration method and system based on Optimum Theory |
| CN110572779A (en) * | 2019-08-30 | 2019-12-13 | 南京沃旭通讯科技有限公司 | System error estimation method of base station based on ToF model |
| CN110784822A (en) * | 2019-10-31 | 2020-02-11 | 广东博智林机器人有限公司 | Base station, base station positioning method and corresponding equipment |
| CN110784822B (en) * | 2019-10-31 | 2021-06-15 | 广东博智林机器人有限公司 | Base station, base station positioning method and corresponding equipment |
| CN111200869A (en) * | 2019-12-25 | 2020-05-26 | 郑州联睿电子科技有限公司 | Device and system integrating UWB single base station positioning and wireless data transmission |
| CN113766415B (en) * | 2020-06-02 | 2022-11-11 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN113766415A (en) * | 2020-06-02 | 2021-12-07 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN111970639A (en) * | 2020-09-02 | 2020-11-20 | Tcl通讯（宁波）有限公司 | Method, device, terminal equipment and storage medium for keeping safe distance |
| CN112399556A (en) * | 2020-11-11 | 2021-02-23 | Oppo广东移动通信有限公司 | Network connection method, terminal and computer storage medium |
| CN112399556B (en) * | 2020-11-11 | 2023-06-09 | Oppo广东移动通信有限公司 | Network connection method, terminal and computer storage medium |
| CN112969137A (en) * | 2021-02-02 | 2021-06-15 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN112969137B (en) * | 2021-02-02 | 2022-04-08 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN113271566A (en) * | 2021-04-06 | 2021-08-17 | 电子科技大学 | Method and device for detecting communication field intensity time slot of high-speed maglev train |
| CN113923772A (en) * | 2021-10-19 | 2022-01-11 | 深圳市优必选科技股份有限公司 | Base station calibration method and device, computer equipment and storage medium |
| CN113923772B (en) * | 2021-10-19 | 2023-09-08 | 深圳市优必选科技股份有限公司 | Base station calibration method and device, computer equipment and storage medium |
| CN114430524A (en) * | 2021-12-30 | 2022-05-03 | 杭州海康威视数字技术股份有限公司 | Ultra-wideband base station calibration method and device and electronic equipment |
| CN114430524B (en) * | 2021-12-30 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Calibration method and device of ultra-wideband base station and electronic equipment |
| CN115066012A (en) * | 2022-02-25 | 2022-09-16 | 西安电子科技大学 | Multi-user anchor-free positioning method based on UWB |
| CN115066012B (en) * | 2022-02-25 | 2024-03-19 | 西安电子科技大学 | Multi-user anchor-free positioning method based on UWB |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109218967A (en) | UWB system locating base station scaling method and its equipment | |
| EP2677778B1 (en) | Distance measurement and alarm method and apparatus | |
| CN101986757B (en) | Positioning method and device for mobile terminal | |
| US20190250241A1 (en) | Time of arrival (toa) measurements | |
| WO2015117477A1 (en) | Indoor positioning method and device, and computer storage medium | |
| CN104459740A (en) | High-precision position differential positioning method of positioning terminal | |
| CN104703130A (en) | Positioning method based on indoor positioning and device for positioning method | |
| EP2126598A2 (en) | Portable, iterative geolocation of rf emitters | |
| CN105792115B (en) | More net location data fusion methods and system | |
| CN105491659A (en) | Indoor location non line of sight compensation method | |
| US20110189960A1 (en) | Estimating Whether A Wireless Terminal Is Indoors Using Pattern Classification | |
| CN110856106A (en) | Indoor high-precision three-dimensional positioning method based on UWB and barometer | |
| US9479902B1 (en) | Determining a propagation-time adjustment for a wireless coverage area, based on information provided by wireless terminals | |
| JP6611117B2 (en) | Electronic device, position specifying program and position specifying method | |
| CN102196559A (en) | Method for eliminating channel delay errors based on TDOA (time difference of arrival) positioning | |
| US20130324150A1 (en) | Location estimation apparatus and method | |
| CN104469930A (en) | Positioning enhancement method and equipment | |
| CN105722023A (en) | Equipment for positioning of mobile terminal, mobile terminal, system, and method | |
| KR20140100641A (en) | Global navigation satellite system and method for supporting virtual reference station using smart device | |
| CN102395198A (en) | Signal intensity-based node positioning method and device for wireless sensing network | |
| KR20220158691A (en) | Communication device, communication system and communication method | |
| CN105848202A (en) | Correction processing method and device for AOAs (Angles of Arrival) and TAs (Time Advances) | |
| KR101580198B1 (en) | Apparatus and method for location tracking | |
| CN106878947B (en) | Indoor positioning method and device | |
| CN109425878A (en) | A kind of narrowband broadcasting method of Beidou ground enhancing positioning message |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190115 |