CN110022574A - A kind of method of automatic configuration of UWB indoor positioning base station - Google Patents
A kind of method of automatic configuration of UWB indoor positioning base station Download PDFInfo
- Publication number
- CN110022574A CN110022574A CN201910302367.1A CN201910302367A CN110022574A CN 110022574 A CN110022574 A CN 110022574A CN 201910302367 A CN201910302367 A CN 201910302367A CN 110022574 A CN110022574 A CN 110022574A
- Authority
- CN
- China
- Prior art keywords
- base station
- locating base
- coordinate
- unselected
- locating
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
-
- 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
Abstract
The present invention provides a kind of method of automatic configuration of UWB indoor positioning base station, the program only configures absolute GPS coordinate in selected locating base station using the configuration of selected locating base station and unselected locating base station.It can be measured without pre-selecting position without carrying out GPS coordinate to several unselected locating base stations, the GPS coordinate of accurate several unselected locating base stations can be obtained, realize that a key automates the configuration to locating base station.
Description
Technical field
The present invention relates to the automatic configuration methods of UWB positioning field, especially UWB locating base station.
Background technique
Indoors in positioning, ultra wide band UWB (Ultra-Wide Band) technology low, pulse width using power spectral density
Extremely narrow pulse signal transmission data have the characteristics that temporal resolution is high, obstacle penetration power is strong, in sighting distance LOS (Line-
Of-Sight the ranging and positioning accuracy that even Millisecond) can be obtained centimetre under environment, suitable for the high-precision under indoor environment
Positioning.
Before being positioned, first have to carry out accurate measurement to determine the position of base station, and the calibration to base station location
Be it is more difficult, especially in the case where ground does not have any mark.Which increase UWB indoor locating system arrangement and exhibitions
Difficulty when opening limits the mobility of system.
Summary of the invention
Matched automatically in view of the above problems, the invention proposes one kind based on two selected locating base stations (known GPS coordinate)
The method for setting the GPS coordinate of several unselected locating base stations.When this method can efficiently reduce needed for configuration locating base station
Between and expense, locating base station required for indoor positioning can be arranged rapidly, when reducing UWB indoor locating system arrangement and expansion
Difficulty, increase the mobility of system, achieve the purpose that arrange locating base station rapidly.
Technical solution:
Using the multiple locating base stations for being furnished with multiple modules, including UWB module and control module, wherein each locating base station
The UWB module of outfit has the function of sending and receiving base coded signal.When the base coded that locating base station is obtained is sent
Between to receiving time be transferred to control module or the end PC using wireless communication module with corresponding communication modes, and update at any time
The real time information of locating base station.
The base coded sending time and receiving time that locating base station obtains are transferred to control module using UWB module,
And the real time information of locating base station is updated at any time.The information that control module is used to send UWB module is analyzed and is calculated, really
The fixed more specific location information for arranging each base station at random.A kind of method of automatic configuration of the UWB indoor positioning base station it is specific
Step are as follows:
Two selected locating base stations and several unselected locating base stations are arranged: to each in step S10 in localization region
A locating base station number, wherein selected locating base station number is No. 1 and No. 2, remaining unselected locating base station successively from No. 3 volumes to
No. n；
Step S20 measures the time used in the transmission base coded signal between each locating base station respectively, is denoted as tm-
N, m are the locating base station number for sending encoded signal, and n is that the locating base station of received encoded signal is numbered；
Step S30 calculates the distance between each locating base station by x=t × c；
Step S40, the locating base station structure and a unselected locating base station selected described in every two cause virtually
Triangle；Go out the GPS absolute coordinate of two selected locating base stations by GPS position measurement；It is selected fixed by known two
The virtual triangle of the absolute coordinate of position base station and unselected locating base station construction carries out coordinate conversion；
Preferably, by the coordinate of two in the step S40 selected locating base stations be set to (a1, b1) and (a2,
B2), the distance that the coordinate of the unselected locating base station is set as (d1, d2) three locating base stations is respectively as follows: a, b and d；By institute
State three sides of three locating base station distances as the virtual triangle.
Preferably, the method for the coordinate conversion are as follows: by the GPS coordinate of one of them selected locating base station by Descartes
Coordinate system (a1, a2) is converted into polar coordinate system (rcos θ, rsin θ),
Step S50, calculates the unselected coordinate for determining base station, finds out each of the virtual triangle of construction by the cosine law
A interior angle A, B, D, by described in (a1, a2) regard virtual origin as, then with the line d between (a1, a2) and (b1, b2) as starting
Side, then required locating base station coordinate (d1, d2) is (dcosA, dsinA) relative to the polar coordinates for playing initial line, is calculated unselected
GPS absolute coordinate (d1, d2)=(cosA+a1, the sinA+a2) for determining base station.
Step S60 successively finds out the coordinate of other locating base stations.
Preferably, after all locating base station coordinates determine, with two selected locating base stations, virtual triangle is reconfigured
Shape verifies the accuracy of the GPS coordinate of unselected locating base station, realizes self detection of locating base station coordinate.
Preferably, nearby principle will be utilized by constructing the construction virtual triangle, should select the positioning apart from known coordinate
The locating base station of the nearest unknown coordinates in base station.The distance between each base station is calculated according to the light velocity and time, is being constructed
Before virtual triangle, first the distance between more each locating base station and selection of base stations, if some base station and selection of base stations
The distance between be it is shortest, then using this base station as the third vertex of virtual triangle.
The present invention has following gain effect:
1, the present invention carries out the transmission of base coded signal, UWB good, precision with anti-multipath effect using UWB module
Height does not need the features such as carrier modulation, can accurately measure the distance between each locating base station information.
2, the present invention provides a kind of base station self-calibrating method that can be used for UWB positioning, the position of base station can be from rower
It is fixed, manual measurement is not needed, difficulty when UWB indoor locating system arrangement and expansion is reduced, increases the removable of system
Property.
3, for the present invention when carrying out virtual architecture triangle, the locating base station difference of selection can calculate different positioning bases
The coordinate stood realizes that self is detected, improves the accuracy of self calibration of base station.
The case where method of self calibration of locating base station used can be expanded easily to multiple base stations, and do not have to examine
Consider the arrangement environment of locating base station.
Detailed description of the invention
Illustrate technical solution of the present invention to become apparent from, the required attached drawing of implementation steps is done simply below
It introduces, it should be understood that the following drawings only shows the embodiment of the present invention, therefore should not be construed as the restriction to range, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His relevant drawings.
Fig. 1 is flow chart of the invention.
Fig. 2 is illustraton of model of the present invention when constructing virtual triangle.
Fig. 3 is the schematic diagram that the present invention carries out coordinate conversion when calculating unselected locating base station.
Embodiment one
A kind of method of automatic configuration of UWB indoor positioning base station:
N step 1, random arrangement locating base stations based on ultra wide band, measure the GPS of first and second locating base station
The distance between each locating base station information is calculated by base coded signal transmission time in absolute coordinate.
Step 2, by two selected locating base stations and one of them determine near the unselected of selected locating base station
Position base station constitutes a triangle, and each interior angle of constructed triangle is found out by the cosine law.
Step 3 constructs polar coordinate system using interior angle and triangle a line, by the GPS coordinate (flute of selected locating base station
Karr coordinate) polar coordinates are converted into, one of them selected locating base station coordinate is temporarily set as to the virtual coordinates of origin, is calculated
Unselected base station coordinates to be asked convert cartesian coordinate for the unselected base station polar coordinates found out, respectively in X-axis and Y-axis
In addition the coordinate that virtual origin is original, that is, find out unselected locating base station coordinate.
The unselected locating base station found out is divided into selected locating base station by step 4, and it is unselected successively to find out other
The GPS coordinate of locating base station.The coordinate of all locating base stations found out is summarized and handled, it can be by all locating base stations
It comes into operation, realizes the automatic configuration of locating base station.
The repeated detection of self calibration of step 5, locating base station: when constructing virtual triangle, random configuration, structure are carried out
Multiple virtual triangles are made, the coordinate of locating base station is calculated, the coordinate of multiple comparison and location base station examines locating base station coordinate
Accuracy.
If abnormal data occur in step 6, self detection, the coordinate of detection is not met with calculated coordinate, by this
Base station selected arbitrary two base stations and abnormal base station around a base station reconfigure triangle, calculate data exception again
Base station, the different virtual triangle of repeated multiple times construction, more calculated coordinate select the highest data of repetitive rate.
In the description of this specification, the description of reference term " example ", " embodiment " etc. mean combine the embodiment or
Person's example particular features, structures, materials, or characteristics described are included at least one embodiment or example of the invention.?
In this specification, schematic expression of the above terms are not necessarily referring to identical embodiment or example.
Although embodiment of the present invention is with open as above, not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for man skilled in the art, can be real easily
Now modification improves, therefore under without departing substantially from universal defined by CLAIM OF BENEFIT and equivalency range, the present invention is not limited to spies
Fixed details and legend shown and described herein.
Claims (7)
1. a kind of method of automatic configuration of UWB indoor positioning base station, it is characterized in that: the following steps are included:
Two selected locating base stations and several unselected locating base stations are arranged: to each in step S10 in localization region
Locating base station number, wherein selected locating base station number is No. 1 and No. 2, remaining unselected locating base station is successively compiled from No. 3
To No. n；
Step S20 measures the time used in the transmission base coded signal between each locating base station respectively, is denoted as tm-n, m is
The locating base station number of encoded signal is sent, n is that the locating base station of received encoded signal is numbered；
Step S30, by x=t × c, (c represents the light velocity herein) calculates the distance between each locating base station；
Step S40, the locating base station and a unselected locating base station selected described in every two cause virtual triangle,
The GPS absolute coordinate for going out two selected locating base stations by GPS position measurement passes through known two selected locating base stations
Virtual triangle is constructed with a unselected locating base station, carries out coordinate conversion；
Step S50 calculates the unselected coordinate for determining base station；
Step S60 successively finds out the coordinate of other locating base stations；
Step S70 verifies coordinate.
2. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 1, it is characterised in that: by step
The coordinate of two selected locating base stations is set to (a1, b1) and (a2, b2), the unselected positioning base in S40
The distance that the coordinate stood is set as (d1, d2) three locating base stations is respectively as follows: a, b and d；By three locating base stations apart from conduct
Three sides of the virtual triangle.
3. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 2, it is characterised in that: the seat
The method for marking conversion are as follows: pole is converted by cartesian coordinate system (a1, a2) by the GPS coordinate of one of them selected locating base station
Coordinate system (rcos θ, rsin θ),
4. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 3, it is characterised in that: the meter
The seat calibration method of unselected locating base station are as follows:
Step S51 finds out each the interior angle A, B, D of the virtual triangle of construction by the cosine law；
Step S52, by described in (a1, a2) regard virtual origin as, then with the line d between (a1, a2) and (b1, b2) as starting
Side, then required locating base station coordinate (d1, d2) is (dcosA, dsinA) relative to the polar coordinates for playing initial line；
Step S52 calculates unselected GPS absolute coordinate (d1, d2)=(cosA+a1, the sinA+a2) for determining base station.
5. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 1 or 3, it is characterised in that: described
The method of step S60 are as follows: the unselected locating base station found out is changed to selected locating base station, other unselected are determined
GPS absolute coordinate is successively acquired in position base station, realizes automatic configuration locating base station.
6. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 1 or 3, it is characterised in that: step
The method of the verification of coordinate described in S70 are as follows:
Step S71, the base station for selecting any two adjacent；
Step S72 reconfigures virtual triangle by the distance between known base station；
Step S73, the coordinate by selecting two base stations find out the coordinate of triangle third point；
Whether step S74, the coordinate found out more originally and the coordinate specifically found out coincide.
7. a kind of method of automatic configuration of UWB indoor positioning base station according to claim 1 or 3, it is characterised in that: construction
Before the virtual triangle, the distance between first more each unselected locating base station and selected locating base station select one
A base station nearest with selected locating base station constructs virtual triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302367.1A CN110022574A (en) | 2019-04-16 | 2019-04-16 | A kind of method of automatic configuration of UWB indoor positioning base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302367.1A CN110022574A (en) | 2019-04-16 | 2019-04-16 | A kind of method of automatic configuration of UWB indoor positioning base station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110022574A true CN110022574A (en) | 2019-07-16 |
Family
ID=67191385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910302367.1A Pending CN110022574A (en) | 2019-04-16 | 2019-04-16 | A kind of method of automatic configuration of UWB indoor positioning base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110022574A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111641919A (en) * | 2020-05-29 | 2020-09-08 | 浙江水利水电学院 | Iterative self-positioning and calibrating method for UWB (ultra wide band) base station |
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN112533288A (en) * | 2020-12-26 | 2021-03-19 | 中北大学 | Self-calibration method for mobile base station position applied to UWB positioning |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050186972A1 (en) * | 2003-12-18 | 2005-08-25 | Hitachi, Ltd. | Wireless base station position setting method, wireless communication system, and program |
| CN104954992A (en) * | 2015-04-24 | 2015-09-30 | 北京楚捷科技有限公司 | Method for automatically locking temporary coordinates of positioning base station |
| CN107466043A (en) * | 2016-06-03 | 2017-12-12 | 中国移动通信集团河北有限公司 | A kind of azimuthal method and apparatus for determining antenna for base station |
| CN107548152A (en) * | 2017-09-26 | 2018-01-05 | 东北大学秦皇岛分校 | Localization method and system based on removable base station |
| CN107708204A (en) * | 2017-10-24 | 2018-02-16 | 常州工学院 | UWB positioning system base station self-calibrating methods based on Kalman filtering |
| CN109218967A (en) * | 2018-10-10 | 2019-01-15 | 中国人民解放军陆军工程大学 | UWB system locating base station scaling method and its equipment |
| CN109548141A (en) * | 2018-11-01 | 2019-03-29 | 上海理工大学 | Indoor environment base station coordinates position calibration method based on Kalman filtering algorithm |
| CN109618284A (en) * | 2019-02-20 | 2019-04-12 | 清华珠三角研究院 | Three-dimensional base station positioning method and device |
-
2019
- 2019-04-16 CN CN201910302367.1A patent/CN110022574A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050186972A1 (en) * | 2003-12-18 | 2005-08-25 | Hitachi, Ltd. | Wireless base station position setting method, wireless communication system, and program |
| CN104954992A (en) * | 2015-04-24 | 2015-09-30 | 北京楚捷科技有限公司 | Method for automatically locking temporary coordinates of positioning base station |
| CN107466043A (en) * | 2016-06-03 | 2017-12-12 | 中国移动通信集团河北有限公司 | A kind of azimuthal method and apparatus for determining antenna for base station |
| CN107548152A (en) * | 2017-09-26 | 2018-01-05 | 东北大学秦皇岛分校 | Localization method and system based on removable base station |
| CN107708204A (en) * | 2017-10-24 | 2018-02-16 | 常州工学院 | UWB positioning system base station self-calibrating methods based on Kalman filtering |
| CN109218967A (en) * | 2018-10-10 | 2019-01-15 | 中国人民解放军陆军工程大学 | UWB system locating base station scaling method and its equipment |
| CN109548141A (en) * | 2018-11-01 | 2019-03-29 | 上海理工大学 | Indoor environment base station coordinates position calibration method based on Kalman filtering algorithm |
| CN109618284A (en) * | 2019-02-20 | 2019-04-12 | 清华珠三角研究院 | Three-dimensional base station positioning method and device |
Non-Patent Citations (1)
| Title |
|---|
| 胡海兵; 张文达; 郑希鹏; 曾贵苓: "基于UWB的智能跟随车导航定位算法研究", 《电子技术应用》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111641919A (en) * | 2020-05-29 | 2020-09-08 | 浙江水利水电学院 | Iterative self-positioning and calibrating method for UWB (ultra wide band) base station |
| CN111641919B (en) * | 2020-05-29 | 2022-07-08 | 浙江水利水电学院 | Iterative self-positioning and calibrating method for UWB (ultra wide band) base station |
| 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 |
| 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 |
| CN111988843A (en) * | 2020-08-12 | 2020-11-24 | 中国计量大学 | Base station self-calibration method |
| CN112533288A (en) * | 2020-12-26 | 2021-03-19 | 中北大学 | Self-calibration method for mobile base station position applied to UWB positioning |
| CN112533288B (en) * | 2020-12-26 | 2022-07-08 | 中北大学 | Self-calibration method for mobile base station position applied to UWB positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110022574A (en) | A kind of method of automatic configuration of UWB indoor positioning base station | |
| EP2149227B1 (en) | Method for measuring location of radio frequency identification reader by using beacon | |
| KR101436031B1 (en) | System and method for position estimation using downlink access point | |
| Aparicio et al. | A fusion method based on bluetooth and wlan technologies for indoor location | |
| TWI752447B (en) | Ultra-wideband assisted precise positioning method | |
| KR20190053470A (en) | Positioning system based on deep learnin and construction method thereof | |
| CN102803985A (en) | Locating electromagnetic signal sources | |
| CN104581931A (en) | Positioning method, device and terminal | |
| Grigulo et al. | Experimenting sensor nodes localization in WSN with UAV acting as mobile agent | |
| KR20090027230A (en) | Method for measuring location of radio frequency identification reader by using beacon | |
| CN110018508A (en) | A kind of localization method and device | |
| CN113347572A (en) | Method and system for realizing terminal positioning by using aerial base station | |
| Thapa et al. | An indoor positioning service for bluetooth ad hoc networks | |
| Jiménez et al. | Precise localisation of archaeological findings with a new ultrasonic 3D positioning sensor | |
| Angermann et al. | Software representation for heterogeneous location data sources using probability density functions | |
| KR20180110392A (en) | Hybrid location positioning method for indoor location measurement based on smart device | |
| JP2007533968A (en) | Wireless self-survey location determination method | |
| Elfadil et al. | Indoor navigation algorithm for mobile robot using wireless sensor networks | |
| KR20190060266A (en) | Apparatus and method for recognizing location of target using two unmanned aerial vehicles | |
| KR20190109830A (en) | coordinate positioning system | |
| TWI542895B (en) | Indoor positioning system and method using the same | |
| CN103686996A (en) | Method for providing land-based navigation positioning signals, land-based navigation positioning method and land-based navigation positioning system | |
| CN100353181C (en) | Terrestrial magnetism assistant positioning method of wireless communication system and wireless communication positioning system | |
| Liyuan et al. | Multi-base-station uwb time difference positioning system | |
| KR101152384B1 (en) | System and method for determining location of access point |
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: 20190716 |