CN111836185A - Method, device and equipment for determining position coordinates of base station and storage medium - Google Patents

Method, device and equipment for determining position coordinates of base station and storage medium Download PDF

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CN111836185A
CN111836185A CN201910324228.9A CN201910324228A CN111836185A CN 111836185 A CN111836185 A CN 111836185A CN 201910324228 A CN201910324228 A CN 201910324228A CN 111836185 A CN111836185 A CN 111836185A
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base station
distance
measurement
position coordinates
coordinates
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CN111836185B (en
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朱绍明
陈泓
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Suzhou Cleva Precision Machinery and Technology Co Ltd
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Suzhou Cleva Precision Machinery and Technology Co Ltd
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    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • 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
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining position coordinates of a base station. Wherein, the method comprises the following steps: obtaining distances between the first measurement position and at least three base stations; moving from the first measuring position to a second measuring position according to a first moving route, and acquiring the distance between the second measuring position and each base station; moving from the second measuring position to a third measuring position according to a second moving route, and acquiring the distance between the third measuring position and each base station; and establishing a plane rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between the first measuring position, the second measuring position and the third measuring position and each base station, and determining the position coordinates of each base station. The embodiment of the invention can determine the position coordinates of the base station according to the position coordinates in the preset route and the distance from the position coordinates obtained from the position coordinates to each base station, thereby realizing the quick establishment of a base station coordinate system, avoiding the manual measurement deviation and ensuring the more accurate positioning.

Description

Method, device and equipment for determining position coordinates of base station and storage medium
Technical Field
The embodiment of the invention relates to the technical field of control of mobile robots, in particular to a method, a device, equipment and a storage medium for determining position coordinates of a base station.
Background
In recent years, local base station type positioning technologies established based on infrared, laser, ultrasonic, bluetooth, Zigbee (Zigbee) protocol, Ultra Wide Band (UWB), and the like are becoming more mature. A local base station based positioning of a mobile robot is taken as an example. As shown in fig. 1a, the mobile robot performs a job on a field a. A local base station type positioning system of a mobile robot includes: 3 base stations not located on the same straight line: base stations 1,2, and 3, and a control system provided inside the mobile robot. The control system of each mobile robot can test or obtain the distance to each base station of the mobile robot: a distance L1 to the base station 1, a distance L2 to the base station 2, and a distance L3 to the base station 3, and automatic positioning is realized according to the obtained distances.
To complete the positioning function through the local base station type positioning system, the position coordinate information of each base station needs to be determined to complete the establishment of the base station coordinate system. In the prior art, the establishment of a base station coordinate system is mainly completed by manually setting an origin, and measuring, calculating and inputting position coordinate information of each base station.
The inventor finds that in the process of implementing the invention, the defects of the prior art are that for a household service robot, a user needs to determine the position coordinate information of each base station and establish a base station coordinate system, so that the use difficulty of the user is increased, and the manual measurement deviation which is difficult to avoid exists in the manual establishment of the coordinate system, so that the positioning accuracy is reduced.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for determining a position coordinate of a base station, so as to optimize an existing method for determining a position coordinate of a base station, implement a fast establishment of a base station coordinate system, and avoid a manual measurement deviation.
In a first aspect, an embodiment of the present invention provides a method for determining a location coordinate of a base station, where the method includes:
obtaining distances between the first measurement position and at least three base stations;
moving from the first measuring position to a second measuring position according to a first moving route, and acquiring the distance between the second measuring position and each base station;
moving from the second measuring position to a third measuring position according to a second moving route, and acquiring the distance between the third measuring position and each base station;
and establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
In a second aspect, an embodiment of the present invention further provides an apparatus for determining a location coordinate of a base station, where the apparatus includes:
the first distance acquisition module is used for acquiring the distances between the first measurement position and at least three base stations;
the second distance acquisition module is used for moving from the first measurement position to a second measurement position according to the first moving route and acquiring the distance between the second measurement position and each base station;
the third distance acquisition module is used for moving from the second measurement position to a third measurement position according to a second moving route and acquiring the distance between the third measurement position and each base station;
and the position coordinate determination module is used for establishing a planar rectangular coordinate system according to the position coordinates of the first measurement position, the second measurement position and the third measurement position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
In a third aspect, an embodiment of the present invention further provides a self-moving device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor, when executing the computer program, implements the method for determining the location coordinates of the base station according to the embodiment of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining the position coordinates of the base station according to the embodiment of the present invention.
The technical scheme of the embodiment of the invention solves the problems that in the prior art, for a household service robot, a user needs to determine the position coordinate information of each base station and establish a base station coordinate system, the use difficulty of the user is increased, the problem of difficult-to-avoid manual measurement deviation exists, the positioning accuracy is reduced, and after the base station is set up, and determining the position coordinates of the base stations according to the position coordinates in the preset route and the distances from the position coordinates obtained from the position coordinates to the base stations, so that a base station coordinate system is quickly established, the manual measurement deviation is avoided, and the positioning is more accurate.
Drawings
FIG. 1a is a schematic diagram of a local base station type positioning system of a mobile robot;
fig. 1b is a flowchart of a method for determining a location coordinate of a base station according to an embodiment of the present invention;
fig. 1c is a schematic diagram of a local base station positioning system according to an embodiment of the present invention;
fig. 2a is a flowchart of a method for determining location coordinates of a base station according to a second embodiment of the present invention;
fig. 2b is a schematic diagram of a local base station positioning system according to a second embodiment of the present invention;
fig. 3a is a flowchart of a method for determining a position coordinate of a base station according to a third embodiment of the present invention;
fig. 3b is a schematic diagram of a local base station positioning system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for determining location coordinates of a base station according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1b is a flowchart of a method for determining a location coordinate of a base station according to an embodiment of the present invention. The present embodiment is applicable to a case where the method may be performed by the apparatus for determining location coordinates of a base station provided in the embodiment of the present invention, and the apparatus may be implemented in software and/or hardware, and may be generally integrated in a self-moving device. Such as a mobile robot. As shown in fig. 1b, the method of this embodiment specifically includes:
step 101, obtaining distances between the first measurement position and at least three base stations.
There are electronic boundaries (e.g., on a lawn where a lawn mowing robot runs) or physical boundaries (e.g., walls of a vacuum robot) on a field where a self-moving device is working. The self-moving equipment automatically runs in the boundary, and the accurate walking distance and turning angle are obtained by dead reckoning in a short time.
The base stations may be located within the field, on the field boundary lines and/or in close proximity to the field boundary. Optionally, the base station is located near the outside of the field boundary so that it does not hinder operation from the mobile device. Each base station has a corresponding code. The self-mobile device can test or obtain the distance to each base station, realize automatic positioning according to the obtained distance, and can also calculate the track through a track calculation device (Inertial measurement unit, IMU), a gyroscope or a wheel speed feedback device, etc.).
At least three base stations B are arranged near the field where the mobile equipment operates1、B2、…、Bt(t.gtoreq.3 and is an integer). In the base station coordinate system establishing stage, base station BiPosition coordinates (x)i,yi) Is the quantity to be sought (i ≧ 1,2, …, t, and t ≧ 3).
The first measurement location is the initial location from the mobile device, denoted as P1(m1,n1). The self-mobile device can measure the first measurement position P1(m1,n1) And base station BiDistance between, is noted as L1i。
And 102, moving from the first measurement position to a second measurement position according to the first moving route, and acquiring the distance between the second measurement position and each base station.
Optionally, the first moving route is a straight line from the first measurement position to the second measurement position. The first distance is denoted as s1。
From the mobile device by measuring the position P1(m1,n1) Walk along a straight line for a first distance s1To a second measurement position P2(m2,n2). The self-moving device can measure the second position P2(m2,n2) And base station BiDistance between, is noted as L2i。
And 103, moving from the second measurement position to a third measurement position according to the second moving route, and acquiring the distance between the third measurement position and each base station.
Optionally, the second moving path is a straight line walking from the second measuring position for a second distance in a direction perpendicular to the first moving pathAway to the third measurement position. The second distance is denoted as s2。
From the mobile device at the second measurement position P2(m2,n2) After rotating 90 degrees, the second measuring position P2(m2,n2) Walk along a straight line for a second distance s2To a third measurement position P3(m3,n3). The third measurement position P can be measured from the mobile device3(m3,n3) And base station BiDistance between, is noted as L3i。
And 104, establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
Wherein the first measurement position is determined as the origin of the planar rectangular coordinate system. The direction pointing from the first measurement position to the second measurement position is determined as the X-axis direction of the planar rectangular coordinate system. A direction pointing from the second measurement position to the third measurement position is determined as the Y-axis direction of the planar rectangular coordinate system.
For any base station BiIs provided with
Figure BDA0002035670020000051
Figure BDA0002035670020000052
Figure BDA0002035670020000053
m2＝m3＝m1+s1The formula (4),
n3＝n1+s2＝n2+s2formula (5).
The combined formulas (1) to (5) can be solved
Figure BDA0002035670020000061
Figure BDA0002035670020000062
Any base station B can be calculated according to equations (6) to (7)iPosition coordinates in a planar rectangular coordinate system. Equations (6) and (7) are coordinate calculation functions. Therefore, the position coordinates of each base station can be obtained according to the formula (6) and the formula (7), and the base station coordinate system establishment is completed.
wherein ,xiIs a base station BiAbscissa, y, in a rectangular plane coordinate systemiIs a base station BiOrdinate, L, in a rectangular plane coordinate system1iFor the first measurement location and base station BiDistance between, L2iFor the second measurement location and base station BiDistance between, L3iFor the third measurement position and base station BiDistance between, s1Is a first distance, s2Is a second distance, m1Is the abscissa of the first measurement position in the rectangular plane coordinate system. i is 1,2, …, t, and t is equal to or greater than 3.
Optionally, according to the preset number of times of measurement, the distance between the first measurement position and the at least three base stations, the distance between the second measurement position and the at least three base stations, and the distance between the second measurement position and the at least three base stations are obtained by taking an average value through multiple measurements.
Optionally, the first measurement position P1Arranged at a specific position within or on the boundary line of the base station (charging station) and defining a first measurement position P1Is (0,0), the second measurement position is P2(s10), the third measurement position is P3(s1,s2). The first measurement position P1(0,0), second measurement position P2(s10) and the third measurement position is P3(s1,s2) Carry over the formulas (6) to (7) to obtain
Figure BDA0002035670020000063
Figure BDA0002035670020000064
Any base station B can be calculated according to the equations (8) to (9)iPosition coordinates in a planar rectangular coordinate system. Therefore, the position coordinates of each base station are obtained, and the establishment of a base station coordinate system is completed.
The embodiment of the invention provides a method for determining position coordinates of base stations, which solves the problems that in the prior art, for a household service robot, a user needs to determine position coordinate information of each base station by self, a base station coordinate system is established, the use difficulty of the user is increased, an unavoidable manual measurement deviation exists, and the positioning accuracy is reduced, after the base station is set, the position coordinates of the base station can be determined according to the position coordinates in the preset route and the distance from the position coordinates obtained from the position coordinates to each base station, so that the base station coordinate system can be quickly established, manual measurement deviation is avoided, and positioning is more accurate.
In one embodiment, base station B may be utilized1、B2、…、BtAnd (t is an integer which is not less than 3) mutually measuring the distance between the base stations to establish a base station coordinate system. For more than three base stations, the coordinate system can be directly established according to the inter-measuring distance between the base stations. If there are only three base stations, as shown in fig. 1c, some additional assistance is required. Known as base station B1And base station B2A distance of r between12Base station B2And base station B3A distance of r between23Base station B1And base station B3A distance of r between13. wherein r12、r23、 and r13The error can be reduced by averaging multiple measurements. With B1(0,0) is the origin of the rectangular plane coordinate system, and is a vector
Figure BDA0002035670020000071
The direction is X-axis direction and perpendicular to the vector
Figure BDA0002035670020000072
The direction is Y-axis direction, then B is known2(r12,0). Further, B3(x3,y3) Is the amount to be requested.
For base station B3(x3,y3) Is provided with
Figure BDA0002035670020000073
Figure BDA0002035670020000074
The combination formulas (10) to (11) are
Figure BDA0002035670020000075
Figure BDA0002035670020000076
Due to y3The two values are opposite numbers, so that a user can select a correct set of coordinate values through a human-computer interface or a remote terminal (for example, a mobile phone application) according to the actual arrangement condition of the base station. Or, base station B3Arranged on a fixed side in the X-axis direction (e.g., above the X-axis), y3Fixedly takes a positive value, thereby automatically calculating the base station B3The coordinate values of (2).
Example two
Fig. 2a is a flowchart of a method for determining a location coordinate of a base station according to a second embodiment of the present invention. This embodiment may be combined with each alternative of one or more of the above embodiments, in which three base stations are arranged from the periphery of the work site of the mobile device.
Correspondingly, as shown in fig. 2a, the method of the present embodiment includes:
step 201, obtaining the distances between the first measurement position and the three base stations.
As shown in fig. 2b, three base stations are provided near the site where the mobile device operates: b is1、B2、B3. In the base station coordinate system establishing stage, base station B1Position coordinates (x)1,y1) Base station B2Position coordinates (x)2,y2) And base station B3Position coordinates (x)3,y3) Is the amount to be requested.
The first measurement location is the initial location from the mobile device, denoted as P1(m1,n1). Measuring a first measurement position P from a mobile device1(m1,n1) And base station B1Distance between, is noted as L11(ii) a Measuring a first measurement position P1(m1,n1) And base station B2Distance between, is noted as L12(ii) a Measuring a first measurement position P1(m1,n1) And base station B3Distance between, is noted as L13。
Step 202, moving from the first measurement position to the second measurement position according to the first moving route, and obtaining the distance between the second measurement position and each base station.
Wherein the mobile device measures the position P from the first measurement position1(m1,n1) Walk along a straight line for a first distance s1To a second measurement position P2(m2,n2). Measuring a second position P from a mobile device2(m2,n2) And base station B1Distance between, is noted as L21(ii) a Measuring the second position P2(m2,n2) Andbase station B2Distance between, is noted as L22(ii) a Measuring the second position P2(m2,n2) And base station B3Distance between, is noted as L23。
And step 203, moving from the second measurement position to a third measurement position according to the second moving route, and acquiring the distance between the third measurement position and each base station.
Wherein the self-moving device is at the second measurement position P2(m2,n2) After rotating 90 degrees, the second measuring position P2(m2,n2) Walk along a straight line for a second distance s2To a third measurement position P3(m3,n3). Measuring a third measurement position P from the mobile device3(m3,n3) And base station B1Distance between, is noted as L31(ii) a Measuring a third measurement position P3(m3,n3) And base station B2Distance between, is noted as L32(ii) a Measuring a third measurement position P3(m3,n3) And base station B3Distance between, is noted as L33。
And 204, establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
Wherein the first measurement position P is1(m1,n1) And determining the origin of the plane rectangular coordinate system. Will be measured from the first measurement position P1(m1,n1) Is directed to a second measurement position P2(m2,n2) Is determined as the X-axis direction of the rectangular plane coordinate system. Will be measured from the second measurement position P2(m2,n2) To a third measurement position P3(m3,n3) Is determined as the Y-axis direction of the rectangular plane coordinate system.
Base station B is calculated according to the following coordinate calculation functioniPosition coordinates (x)i,yi)：
Figure BDA0002035670020000091
Figure BDA0002035670020000092
wherein ,xiFor the abscissa, y, of the base station i in a rectangular plane coordinate systemiIs the ordinate, L, of the base station i in a rectangular plane coordinate system1iIs the distance, L, between the first measurement location and base station i2iIs the distance between the second measurement location and base station i, L3iIs the distance, s, between the third measurement location and base station i1Is a first distance, s2Is a second distance, m1Is the abscissa of the first measurement position in the rectangular plane coordinate system. i is 1,2, …, t, and t is 3.
Thus, base station B is obtained1Position coordinates (x)1,y1) Base station B2Position coordinates (x)2,y2) And base station B3Position coordinates (x)3,y3) And finishing the establishment of the base station coordinate system.
The embodiment of the invention provides a method for determining position coordinates of base stations, which comprises the steps of moving from a first measuring position to a second measuring position according to a first moving route, moving from the second measuring position to a third measuring position according to a second moving route, respectively obtaining the distances between the first measuring position, the second measuring position and the third measuring position and each base station, then establishing a plane rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distances between the three base stations, determining the position coordinates of the three base stations in the plane rectangular coordinate system, after the three base stations are set, determining the position coordinates of the base stations according to the position coordinates in a preset route and the distances between the position coordinates obtained by the position coordinates and each base station, thereby realizing the rapid establishment of a base station coordinate system, and manual measurement deviation is avoided, so that the positioning is more accurate.
EXAMPLE III
Fig. 3a is a flowchart of a method for determining a location coordinate of a base station according to a third embodiment of the present invention. This embodiment may be combined with each alternative in one or more of the above embodiments, and in this embodiment, after determining the position coordinates of each base station in the planar rectangular coordinate system, the method may further include: according to a third moving route, walking from a fourth measuring position to a fifth measuring position along a straight line by a third distance, and obtaining the distance between the fifth measuring position and each base station; determining at least one reference position coordinate corresponding to each base station according to the preset position deviation, the step length of the set number and the current position coordinate of each base station; determining at least one reference position coordinate of a fifth measuring position according to at least one reference position coordinate corresponding to each base station and the distance between the fifth measuring position and each base station; calculating the reference distance between each reference position coordinate of the fifth measuring position and the fourth measuring position; respectively calculating the difference value between each reference distance and the third distance; and acquiring the reference position coordinates of each base station corresponding to the minimum difference, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
Correspondingly, as shown in fig. 3a, the method of the present embodiment includes:
step 301, obtaining distances between the first measurement position and at least three base stations.
Step 302, moving from the first measurement position to a second measurement position according to the first moving route, and obtaining the distance between the second measurement position and each base station.
And step 303, moving from the second measurement position to a third measurement position according to the second movement route, and acquiring the distance between the third measurement position and each base station.
And step 304, establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
And 305, walking a third distance from the fourth measuring position to a fifth measuring position along a straight line according to a third moving route, and acquiring the distance between the fifth measuring position and each base station.
After the position coordinates of each base station in the plane rectangular coordinate system are determined, the position coordinates of each base station can be continuously optimized. Knowing the position coordinates P of the fourth measurement locationj(mj,nj). The fourth measurement position may be the same position as the third measurement position, or may be a predetermined other measurement position. Base station B sub-optimized by k (k is more than or equal to 0 and is an integer)iIs recorded as the current position coordinate
Figure BDA0002035670020000111
(i ≧ 1,2, …, t, and t ≧ 3).
From the fourth measurement position Pj(mj,nj) Travel a third distance s along a straight linejTo a fifth measurement position Pj+1(mj+1,nj+1). wherein ,sjThe self-moving equipment is obtained and controlled by a dead reckoning device of the self-moving equipment. From the mobile device at the fifth measurement position Pj+1(mj+1,nj+1) At a time, the position P can be measuredj+1(mj+1,nj+1) And base station BiIs L from each other(j+1)i(i ≧ 1,2, …, t, and t ≧ 3).
And step 306, determining at least one reference position coordinate corresponding to each base station according to the preset position deviation, the step length of the set number and the current position coordinate of each base station.
Wherein, for any base station BiIt is preset that its position coordinates obtained by calculation have a position deviation Δ d. The current position coordinates of each base station are
Figure BDA0002035670020000112
Defining base station BiHas reference position coordinates of
Figure BDA0002035670020000113
u is the step size. Wherein u is 0, ± 1,±2,…,±umax，umaxIs a positive integer. Namely, according to the preset position deviation, the step length of the set number and the current position coordinate of each base station, 2u corresponding to each base station is determinedmax+1 reference position coordinates.
Optionally, umax＝10。
And 307, determining at least one reference position coordinate of the fifth measurement position according to at least one reference position coordinate corresponding to each base station and the distance between the fifth measurement position and each base station.
Wherein base station B is utilizediReference position coordinates of
Figure BDA0002035670020000114
(for each value of u) and the distance L between the fifth measurement location and each base station(j+1)iCalculating the position Pj+1Reference position coordinates P of(j+1)u(m(j+1)u,n(j+1)u) Is provided with
Figure BDA0002035670020000121
According to the formula (10), m can be solved(j+1)u and n(j+1)uTo obtain 2umax+1 fifth measurement positions Pj+1Reference position coordinates P of(j+1)u(m(j+1)u,n(j+1)u)。
And 308, calculating the reference distance between each reference position coordinate of the fifth measuring position and the fourth measuring position.
Wherein the fifth measurement position P is calculated according to the following distance calculation functionj+1Each reference position coordinate (m)(j+1)u,n(j+1)u) And a fourth measurement position Pj(mj,nj) Reference distance therebetween:
Figure BDA0002035670020000122
wherein ,scjuIs a reference distance.
Step 309, calculating the difference between each reference distance and the third distance.
Wherein the third distance is the measured distance sj. Calculating P according to the following difference calculation functionjAnd Pj+1Measured distance s betweenjFrom each reference distance scjuThe difference of (a):
Δsju＝|sj-scju|，
wherein ,ΔsjuFor a measured distance sjFrom a reference distance scjuThe difference of (a).
And 310, acquiring the reference position coordinates of each base station corresponding to the minimum difference, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
And obtaining the minimum difference value of the difference values of the reference distances and the third distance, and determining the step length u corresponding to the minimum difference value, and recording the step length u as C. I.e. the difference as between the reference distance and the third distance calculated when u ═ CjCFor each reference distance, Δ s, difference from the third distancejuThe smallest difference in. Base station B corresponding to the minimum differenceiHas reference position coordinates of
Figure BDA0002035670020000123
Optionally, base station B is calculated according to the following coordinate calculation functioniOptimized position coordinates of (2):
Figure BDA0002035670020000124
Figure BDA0002035670020000131
wherein ,
Figure BDA0002035670020000132
is a base station BiOptimized position coordinates ofThe abscissa in (a) is a horizontal axis,
Figure BDA0002035670020000133
is a base station BiIn the optimized position coordinates of (a) and (b),
Figure BDA0002035670020000134
is a base station BiThe abscissa in the coordinates of the current position of the vehicle,
Figure BDA0002035670020000135
is a base station BiThe ordinate in the current position coordinates of the vehicle,
Figure BDA0002035670020000136
is the base station B corresponding to the minimum differenceiIs measured with respect to the abscissa in the reference position coordinates,
Figure BDA0002035670020000137
is the base station B corresponding to the minimum differenceiK is the historical optimization times corresponding to the current position coordinates. C is the step size corresponding to the minimum difference. Δ d is a preset positional deviation. i is 1,2, …, t, and t is equal to or greater than 3.
Optionally, the obtaining the reference position coordinates of each base station corresponding to the minimum difference, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station may include: and when the difference value between each reference distance and the third distance meets the preset numerical value condition, acquiring the reference position coordinates of each base station corresponding to the minimum difference value, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
The maximum distance deviation is defined as R. The preset numerical condition may be a minimum difference Δ sjCAnd more than or equal to R. And judging whether the difference value between each reference distance and the third distance meets a preset numerical value condition or not. If yes, the most sum is obtainedThe reference position coordinates of each base station corresponding to the small difference values and the weighted average calculation of the reference position coordinates and the current position coordinates of each base station are carried out according to the historical optimization times corresponding to the current position coordinates of each base station, so that the optimized position coordinates of each base station are obtained; if not, it is determined that the determination may be that Δ s is caused by a slip or the likejCIf the value error is large, the calculation does not optimize the position of the base station, and the current calculation process is stopped.
The preset value condition can be any deltasju＞R, or
Figure BDA0002035670020000138
Alternatively, in order to reduce the number of calculations during optimization, the initial value of the positional deviation Δ d is large. When the rear distance deviation deltasjuThe value of Δ d becomes smaller and smaller as the time becomes smaller. The above steps are repeated until the distance calculated by the flight path and the distance calculated by the base station are stabilized within the given threshold value range.
As shown in fig. 3b, three base stations are provided near the site where the mobile device operates: b is1、B2、B3. For the base station B which is sub-optimized by k (k is more than or equal to 0 and is an integer)1Base station B2And base station B3Current position coordinates of (2):
Figure BDA0002035670020000141
and
Figure BDA0002035670020000142
the k +1 th sub-optimization is performed.
The embodiment of the invention provides a method for determining the position coordinates of base stations, which is characterized in that the reference position coordinates and the current position coordinates of each base station are subjected to weighted average calculation according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station, the calculated position coordinates can be optimized, and the accuracy of the position coordinates is improved.
Example four
Fig. 4 is a schematic structural diagram of a device for determining a location coordinate of a base station according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus may be configured in a self-moving device, including: a first distance acquisition module 401, a second distance acquisition module 402, a third distance acquisition module 403, and a position coordinate determination module 404.
The first distance obtaining module 401 is configured to obtain distances between a first measurement location and at least three base stations; a second distance obtaining module 402, configured to move from the first measurement location to a second measurement location according to the first movement route, and obtain distances between the second measurement location and each base station; a third distance obtaining module 403, configured to move from the second measurement position to a third measurement position according to the second movement route, and obtain a distance between the third measurement position and each base station; and a position coordinate determining module 404, configured to establish a rectangular planar coordinate system according to the position coordinates of the first measurement position, the second measurement position, and the third measurement position, and the distance between each base station and each base station, and determine a position coordinate of each base station in the rectangular planar coordinate system.
The embodiment of the invention provides a device for determining the position coordinates of base stations, which solves the problems that in the prior art, for a household service robot, a user needs to determine the position coordinate information of each base station by himself/herself, a base station coordinate system is established, the use difficulty of the user is increased, the manual measurement deviation which is difficult to avoid exists, and the positioning accuracy is reduced, after the base station is set, the position coordinates of the base station can be determined according to the position coordinates in the preset route and the distance from the position coordinates obtained from the position coordinates to each base station, so that the base station coordinate system can be quickly established, manual measurement deviation is avoided, and positioning is more accurate.
On the basis of the above embodiments, the first moving route is to travel a first distance along a straight line from the first measuring position to the second measuring position; the second moving route is that the second measuring position walks to a third measuring position along a straight line according to the direction vertical to the first moving route.
On the basis of the above embodiments, the position coordinate determination module 404 may include: an origin determining unit configured to determine the first measurement position as an origin of the planar rectangular coordinate system; a first direction determination unit configured to determine a direction pointing from the first measurement position to the second measurement position as an X-axis direction of the planar rectangular coordinate system; a second direction determination unit for determining a direction pointing from the second measurement position to the third measurement position as a Y-axis direction of the planar rectangular coordinate system; a position coordinate calculation unit for calculating the base station B according to the following coordinate calculation functioniPosition coordinates in a planar rectangular coordinate system:
Figure BDA0002035670020000151
Figure BDA0002035670020000152
wherein ,xiFor the abscissa, y, of the base station i in a rectangular plane coordinate systemiIs the ordinate, L, of the base station i in a rectangular plane coordinate system1iIs the distance, L, between the first measurement location and base station i2iIs the distance between the second measurement location and base station i, L3iIs the distance, s, between the third measurement location and base station i1Is a first distance, s2Is a second distance, m1Is the abscissa of the first measurement position in the rectangular plane coordinate system.
On the basis of the foregoing embodiments, the first distance obtaining module 401 may include: and the distance acquisition unit is used for acquiring the distances between the first measurement position and the at least three base stations by adopting a mode of measuring for multiple times and averaging according to the preset measurement times.
On the basis of the above embodiments, the method may further include: the fourth distance acquisition module is used for walking from the fourth measurement position to a fifth measurement position along a straight line according to a third moving route and acquiring the distance between the fifth measurement position and each base station; the first coordinate determination module is used for determining at least one reference position coordinate corresponding to each base station according to the preset position deviation, the set number of step lengths and the current position coordinate of each base station; the second coordinate determination module is used for determining at least one reference position coordinate of a fifth measurement position according to at least one reference position coordinate corresponding to each base station and the distance between the fifth measurement position and each base station; the reference distance determining module is used for calculating the reference distance between each reference position coordinate of the fifth measuring position and the fourth measuring position; the difference value calculating module is used for calculating the difference value between each reference distance and the third distance respectively; and the position coordinate optimization module is used for acquiring the reference position coordinates of each base station corresponding to the minimum difference value, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
On the basis of the foregoing embodiments, the position coordinate optimization module may include: a coordinate calculation unit for calculating the base station B according to the following coordinate calculation functioniOptimized position coordinates of (2):
Figure BDA0002035670020000161
Figure BDA0002035670020000162
wherein ,
Figure BDA0002035670020000163
is a base station BiThe abscissa in the coordinates of the optimum position of (c),
Figure BDA0002035670020000164
is a base station BiIn the optimized position coordinates of (a) and (b),
Figure BDA0002035670020000165
is a base station BiThe abscissa in the coordinates of the current position of the vehicle,
Figure BDA0002035670020000166
is a base station BiThe ordinate in the current position coordinates of the vehicle,
Figure BDA0002035670020000167
is the base station B corresponding to the minimum differenceiIs measured with respect to the abscissa in the reference position coordinates,
Figure BDA0002035670020000168
is the base station B corresponding to the minimum differenceiK is the historical optimization times corresponding to the current position coordinates.
On the basis of the foregoing embodiments, the position coordinate optimization module may include: and the position coordinate optimization unit is used for acquiring the reference position coordinates of each base station corresponding to the minimum difference value when the difference value between each reference distance and the third distance meets the preset numerical value condition, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
The device for determining the position coordinate of the base station can execute the method for determining the position coordinate of the base station provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method for determining the position coordinate of the base station.
The modules and units related in the embodiments of the present invention may be implemented in a software manner, or may be implemented in a hardware manner. Here, the names of the modules and units do not constitute a limitation to the modules or units themselves in some cases, for example, the first distance acquisition module may also be described as a "module that acquires distances between the first measurement position and at least three base stations", and the origin determination unit may also be described as a "unit that determines the first measurement position as the origin of the planar rectangular coordinate system".
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 512 suitable for use in implementing embodiments of the present invention. The computer device 512 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. Computer device 512 may be a self-moving device. Such as a mobile robot.
As shown in FIG. 5, computer device 512 is in the form of a general purpose computing device. Components of computer device 512 may include, but are not limited to: one or more processors or processing units 516, a system memory 528, and a bus 518 that couples the various system components including the system memory 528 and the processing unit 516.
Bus 518 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 512 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 512 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 528 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)530 and/or cache memory 532. The computer device 512 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 534 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 518 through one or more data media interfaces. System memory 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 540 having a set (at least one) of program modules 542 may be stored, for example, in system memory 528, such program modules 542 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 542 generally perform the functions and/or methods of the described embodiments of the invention.
The computer device 512 may also communicate with one or more external devices 514 (e.g., keyboard, pointing device, display 524, etc.), with one or more devices that enable a user to interact with the computer device 512, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 512 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, computer device 512 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 520. As shown, the network adapter 520 communicates with the other modules of the computer device 512 via the bus 518. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with computer device 512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 516 of the computer device 512 executes various functional applications and data processing by running programs stored in the system memory 528, for example, to implement the method for determining the position coordinates of the base station provided by the embodiment of the present invention. That is, the distances between the first measurement position and the at least three base stations are obtained; moving from the first measuring position to a second measuring position according to a first moving route, and acquiring the distance between the second measuring position and each base station; moving from the second measuring position to a third measuring position according to a second moving route, and acquiring the distance between the third measuring position and each base station; and establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
EXAMPLE six
A sixth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining the position coordinates of the base station according to all embodiments of the present invention provided in this application. That is, the distances between the first measurement position and the at least three base stations are obtained; moving from the first measuring position to a second measuring position according to a first moving route, and acquiring the distance between the second measuring position and each base station; moving from the second measuring position to a third measuring position according to a second moving route, and acquiring the distance between the third measuring position and each base station; and establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method for determining location coordinates of a base station, comprising:
obtaining distances between the first measurement position and at least three base stations;
moving from the first measurement position to a second measurement position according to a first moving route, and acquiring the distance between the second measurement position and each base station;
moving from the second measurement position to a third measurement position according to a second movement route, and acquiring distances between the third measurement position and each base station;
and establishing a planar rectangular coordinate system according to the position coordinates of the first measuring position, the second measuring position and the third measuring position and the distance between each base station and the base stations, and determining the position coordinates of each base station in the planar rectangular coordinate system.
2. The method of claim 1, wherein the first movement path is a straight line from the first measurement location to the second measurement location;
the second moving route is that the second measuring position walks to the third measuring position along a straight line according to the direction perpendicular to the first moving route.
3. The method of claim 2, wherein establishing a rectangular planar coordinate system according to the position coordinates of the first measurement position, the second measurement position and the third measurement position and the distance between the first measurement position, the second measurement position and the third measurement position and the base stations, and determining the position coordinates of the base stations in the rectangular planar coordinate system comprises:
determining the first measurement position as an origin of a plane rectangular coordinate system;
determining a direction pointing from the first measurement position to the second measurement position as an X-axis direction of the planar rectangular coordinate system;
determining a direction pointing from the second measurement position to the third measurement position as a Y-axis direction of the planar rectangular coordinate system;
base station B is calculated according to the following coordinate calculation functioniPosition coordinates in the planar rectangular coordinate system:
Figure FDA0002035670010000011
Figure FDA0002035670010000012
wherein ,xiIs a base station BiAbscissa, y, in said rectangular plane coordinate systemiIs the base station BiOrdinate, L, in the rectangular plane coordinate system1iFor the first measurement location and the base station BiDistance between, L2iFor the second measurement position and the base station BiDistance between, L3iFor the third measurement position and the base station BiDistance between, s1Is the first distance, s2Is the second distance, m1And the abscissa of the first measurement position in the plane rectangular coordinate system is taken as the abscissa.
4. The method of claim 1, wherein obtaining distances between the first measurement location and at least three base stations comprises:
and obtaining the distances between the first measurement position and the at least three base stations by adopting a mode of averaging multiple measurements according to the preset measurement times.
5. The method of claim 1, after determining the position coordinates of the base stations in the rectangular plane coordinate system, further comprising:
according to a third moving route, walking a third distance from a fourth measuring position to a fifth measuring position along a straight line, and acquiring the distance between the fifth measuring position and each base station;
determining at least one reference position coordinate corresponding to each base station according to a preset position deviation, a set number of step lengths and the current position coordinate of each base station;
determining at least one reference position coordinate of the fifth measurement position according to at least one reference position coordinate corresponding to each base station and the distance between the fifth measurement position and each base station;
calculating a reference distance between each reference position coordinate of the fifth measurement position and the fourth measurement position;
respectively calculating the difference value between each reference distance and the third distance;
and acquiring the reference position coordinates of each base station corresponding to the minimum difference, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
6. The method of claim 5, wherein performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station comprises:
base station B is calculated according to the following coordinate calculation functioniOptimized position coordinates of (2):
Figure FDA0002035670010000031
Figure FDA0002035670010000032
wherein ,
Figure FDA0002035670010000033
is a base station BiThe abscissa in the coordinates of the optimum position of (c),
Figure FDA0002035670010000034
is the base station BiIn the optimized position coordinates of (a) and (b),
Figure FDA0002035670010000035
is the base station BiThe abscissa in the coordinates of the current position of the vehicle,
Figure FDA0002035670010000036
is the base station BiThe ordinate in the current position coordinates of the vehicle,
Figure FDA0002035670010000037
for the base station B corresponding to the minimum differenceiIs measured with respect to the abscissa in the reference position coordinates,
Figure FDA0002035670010000038
for the base station B corresponding to the minimum differenceiK is the historical optimization times corresponding to the current position coordinate.
7. The method of claim 5, wherein obtaining the reference position coordinates of each base station corresponding to the minimum difference, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station comprises:
and when the difference value between each reference distance and the third distance meets a preset numerical value condition, acquiring the reference position coordinates of each base station corresponding to the minimum difference value, and performing weighted average calculation on the reference position coordinates and the current position coordinates of each base station according to the historical optimization times corresponding to the current position coordinates of each base station to obtain the optimized position coordinates of each base station.
8. An apparatus for determining location coordinates of a base station, comprising:
the first distance acquisition module is used for acquiring the distances between the first measurement position and at least three base stations;
the second distance acquisition module is used for moving from the first measurement position to a second measurement position according to a first moving route and acquiring the distance between the second measurement position and each base station;
a third distance obtaining module, configured to move from the second measurement location to a third measurement location according to a second movement route, and obtain distances between the third measurement location and the base stations;
and the position coordinate determination module is used for establishing a planar rectangular coordinate system according to the position coordinates of the first measurement position, the second measurement position and the third measurement position and the distance between the first measurement position, the second measurement position and the third measurement position and each base station, and determining the position coordinates of each base station in the planar rectangular coordinate system.
9. A self-moving device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method of determining location coordinates of a base station as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for determining the position coordinates of a base station according to any one of claims 1 to 7.
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