CN113677001A - UWB positioning precision device with automatic intelligent compensation function and method - Google Patents
UWB positioning precision device with automatic intelligent compensation function and method Download PDFInfo
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- CN113677001A CN113677001A CN202111237192.4A CN202111237192A CN113677001A CN 113677001 A CN113677001 A CN 113677001A CN 202111237192 A CN202111237192 A CN 202111237192A CN 113677001 A CN113677001 A CN 113677001A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—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
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
Abstract
The invention relates to a UWB positioning precision device with automatic intelligent compensation, belonging to the technical field of positioning of identification cards. The system comprises a cloud platform and a UWB module, wherein the UWB module comprises N UWB base stations and M identification cards, and is matched with the base stations to realize distance measurement; each UWB base station comprises a base station height measuring module, and the height of the base station is measured by the base station height measuring module; the identification card comprises an identification card height measuring module, and the height of the identification card is measured through the identification card height measuring module; the cloud platform is used for realizing all data display and data control. The invention also discloses a method for automatically and intelligently compensating the UWB positioning accuracy. The invention has the following beneficial effects: through the built-in height measurement module of hardware, can automatic calibration UWB location coordinate, can not lead to the coordinate deviation to influence the precision because of installing different heights or wearing different heights with the identification card. The invention aims to solve the problem of more convenient deployment in different environments and improve the testing precision.
Description
Technical Field
The invention relates to a UWB positioning precision device with automatic intelligent compensation and a UWB positioning precision method, and belongs to the technical field of identification card positioning.
Background
With the rapid development of economy in China, the construction of underground space is more and more diverse. In order to ensure the safety of tunnel construction and operation management, the production environment of the tunnel needs to be improved by means of various advanced internet of things technologies, and the risk resistance capability of the tunnel is improved. At present, a tunnel monitoring system generally comprises a tunnel LED access control system, a tunnel video monitoring system, a tunnel personnel positioning system, a tunnel emergency telephone system and a tunnel gas detection system.
The tunnel monitoring system can realize personnel positioning, and the specific working principle is as follows: a wireless pulse UWB positioning technology is adopted, a positioning base station is deployed in the tunnel, a positioning label is distributed to constructors entering the tunnel, and time information, quantity information, accurate position information and the like of the constructors entering the tunnel can be effectively acquired.
The existing UWB indoor positioning is divided into one-dimensional positioning, two-dimensional positioning and three-dimensional positioning. One-dimensional positioning is mainly used for presence detection or ranging. Two-dimensional positioning enables determination of coordinate information for the same plane. Three-dimensional location can realize 3 dimension location, realizes the 3D effect.
Three-dimensional positioning requires more base stations to be deployed, and the cost is high. At present, the tunnel personnel are mainly positioned in one dimension and two dimensions. 3-dimensional positioning can not be realized, and 3D effect is realized. In addition, the deployment of base stations with different heights or the wearing of identification cards can cause the deviation of the coordinate calculated by test data and the actual position, and in order to improve the UWB indoor positioning precision, a plurality of schemes are adopted at present, for example, when the UWB indoor positioning precision is installed and deployed, the scale and the height of the base station are determined by using a tape measure and a platform map in a manual mode, so that the measurement precision is improved, the construction is complex, and the cost is high.
In chinese patent application CN202010939121.8, a UWB positioning correction method, a UWB positioning system, a device, and a storage medium are disclosed, wherein the method comprises the steps of: selecting n position points from the UWB positioning area as reference points, recording the real coordinate of the ith reference point as (xi, yi), wherein i is 1,2,3,. multidot.n, and the positioning coordinate of the ith reference point obtained by positioning according to a UWB positioning system is used for calculating the positioning error err _ xi of the ith reference point in the x direction and the positioning error err _ yi of the y direction; obtaining positioning errors of n reference points in the x direction and the y direction, and forming n groups of discrete data points with the coordinates of the reference points to form data sets Q and P fitted with a curved surface; constructing an error fitting curved surface according to the data set Q and the data set P to obtain an error curved surface f (x, y) in the x direction and an error curved surface g (x, y) in the y direction; and (4) combining the error curved surfaces f (x, y) and g (x, y) obtained in the step (S4) with the actual coordinate values obtained by UWB positioning, calibrating the UWB positioning error, and obtaining the calibrated coordinates. However, this approach has significant drawbacks: the positioning coordinates after calibration are improved by adding the reference points, which can cause the increase of cost and the inconvenience of actual scene deployment, especially in the severe underground scenes of coal mines.
Chinese patent ZL201710789063.3 discloses an adaptive networking method, a positioning system, and a positioning base station, wherein a distance detection device may be configured on the positioning base station in an embodiment, a distance between the positioning base stations may be detected by the distance detection device, and a relative position between a verification tag and one of the positioning base stations is unchanged. Therefore, even if the position of the positioning base station changes, the relative position coordinates of the positioning base station and the verification tag can be determined again through the distance information detected by the distance detection device, and the determination of the system time correction value can be realized again. The positioning accuracy in the UWB positioning system can not be changed due to the change of the position of the positioning base station. However, this approach has significant drawbacks: at present, a base station is fixed in many implementation scenes, and the conditions that different heights and identification cards are installed on the base station cannot be solved at the same time.
Disclosure of Invention
According to the defects in the prior art, the technical problems to be solved by the invention are as follows: to solve one of the above problems, an apparatus and method for automatically and intelligently compensating UWB positioning accuracy are provided.
The invention discloses a UWB positioning precision device with automatic intelligent compensation, which is characterized in that: comprises a cloud platform and a UWB module, wherein the UWB module comprises N UWB base stations and M identification cards,
n is more than or equal to 3, M is more than or equal to 1, the identification card is arranged on a tested person or object, is in communication connection with each UWB base station and is matched with the base station to realize distance measurement; each UWB base station comprises a base station height measuring module, and the height of the base station is measured by the base station height measuring module; the identification card comprises an identification card height measuring module, and the height of the identification card is measured through the identification card height measuring module; the UWB base station transmits the ranging information and the height information back to the cloud platform through a wire or a network cable, and the cloud platform is used for realizing all data display and data control.
Preferably, N =3, specifically, the positions of the UWB master base station A, UWB slave base station B and the UWB slave base station C at different height positions are not overlapped, both the UWB master base station A, UWB slave base station B and the UWB slave base station C are in communication connection with the identification card, and the UWB master base station a is in communication connection with the cloud platform.
Preferably, the UWB main base station a includes a first base station height measuring module, configured to measure a height of the base station, and send acquired base station height data to a first MCU main control chip;
the first UWB positioning module is used for measuring the linear distance between the first UWB positioning module and the identification card in a matching way and sending the acquired linear distance data to the first MCU main control chip;
the first MCU main control chip is connected with the first base station height measuring module and the first UWB positioning module and is used for processing the received base station height data and the received linear distance data and sending the processed base station height data and the processed linear distance data to the first wireless communication module;
and the first wireless communication module is connected with the first MCU main control chip and used for receiving the processed base station height data and the processed linear distance data and sending the processed base station height data and the processed linear distance data to a cloud platform through a wireless network.
Preferably, the UWB main base station a further includes a first power supply module and a first display module connected to the first MCU main control chip, the first power supply module supplies power to the first MCU main control chip, and the first display module is used for data display.
Preferably, the UWB slave base station B comprises a second base station height measuring module, configured to measure the height of the base station, and send the acquired height data of the base station to a second MCU main control chip; the second UWB positioning module is used for measuring the linear distance between the identification card and the first UWB positioning module in a matching way and sending the acquired distance data to the second MCU main control chip, and the second UWB positioning module has the functions of data transmission communication and positioning; the second MCU main control chip is connected with the second base station height measuring module and the second UWB positioning module and is used for processing the received base station height data and the received linear distance data; the second UWB positioning module is wirelessly interconnected with the first UWB positioning module to realize bidirectional communication between the first MCU main control chip and the second MCU main control chip, and the base station height data and the linear distance data processed by the second MCU main control chip are sent to the first MCU main control chip through a wireless network; UWB follows base station B and UWB and follows base station C's structural configuration the same, and second UWB positioning module, first UWB positioning module all follow base station C's third UWB positioning module wireless interconnection with UWB, and third MCU main control chip communicates with first MCU main control chip, second MCU main control chip both way communication respectively.
Preferably, the identification card comprises a fourth identification card height measuring module for measuring the height of the identification card and sending the acquired identification card height data to a fourth MCU main control chip; and the fourth UWB positioning module is respectively used for measuring the linear distance between the first UWB positioning module and the second UWB positioning module in a matching way and the third UWB positioning module, and transmitting the processed height data of the marking card to the first MCU main control chip or the second MCU main control chip or the third MCU main control chip through a wireless network.
Preferably, the identification card further comprises a fourth power supply module and a fourth display module, the fourth power supply module is connected with the fourth MCU main control chip and supplies power to the fourth MCU main control chip, and the fourth display module is used for data display.
Preferably, the identification card further comprises an identification card body, a fourth MCU main control chip, a fourth marking card height measuring module, a fourth UWB positioning module, a fourth power supply module and a fourth display module are all arranged in the identification card body, and the identification card further comprises a base matched with the identification card body.
A method for automatically and intelligently compensating UWB positioning accuracy is characterized in that: by applying the device with the function of automatically and intelligently compensating the UWB positioning accuracy, the method with the function of automatically and intelligently compensating the UWB positioning accuracy comprises the following steps:
the identification card firstly measures the distance from the slave base station B, UWB to the slave base station C of the UWB master base station A, UWB;
the UWB main base station A measures the vertical height of the UWB main base station A through a first base station height measuring module;
the UWB slave base station B measures the vertical height of the UWB slave base station B through a second base station height measuring module;
the UWB slave base station C measures the vertical height of the UWB slave base station C through a third base station height measuring module;
the vertical height of the identification card is measured by the identification card through a fourth identification card height measuring module;
the distance measuring information and the height information are collected to the UWB main base station A, the distance measuring information and the height information are transmitted back to the cloud platform through the UWB main base station A through wires or network cables, the cloud platform carries out data resolving processing through an algorithm, and finally the position of the identification card is obtained.
Preferably, the ranging information is obtained by multiplying the speed of light of a radio wave by the time when the base station acquires the identification card, so that the distance between the identification card and the base station is obtained.
Compared with the prior art, the invention has the following beneficial effects:
the device with the automatic intelligent compensation UWB positioning precision can automatically calibrate the UWB positioning coordinate through the hardware built-in height measuring module, and cannot influence the precision due to coordinate deviation caused by installing different heights or wearing identification cards with different heights.
The device with automatic intelligent compensation UWB positioning precision adopts UWB positioning, and obtains the distance between the identification card and a base station by multiplying the speed of radio wave light by the time of the base station for acquiring the identification card. Different heights can cause different acquisition times, different distances obtained by multiplying different times by the light speed are different, and the different distances finally cause errors in the acquired coordinates. The invention aims to solve the problem of more convenient deployment in different environments and improve the testing precision.
The method with automatic intelligent compensation UWB positioning accuracy can realize personnel positioning, adopts a wireless pulse UWB positioning technology, arranges an outdoor positioning base station in a tunnel, distributes a positioning label to constructors entering the tunnel, and can effectively acquire time information, quantity information, accurate position information and the like of the constructors entering a tunnel portal.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic block diagram of a UWB master base station A;
FIG. 3 is a functional block diagram of an identification card;
FIG. 4 is a software height algorithm illustration;
FIG. 5 is a schematic diagram of signal flight times of distances between a master station and a slave station;
FIG. 6 is a schematic block diagram of an implementation diagram;
FIG. 7 is a software height, distance and coordinate algorithm flow chart;
FIG. 8 is a diagram of a height measurement module;
FIG. 9 is a flowchart of absolute pressure value compensation;
FIG. 10 is an exploded view of the identification card;
FIG. 11 is a first view of the structure of the identification card;
FIG. 12 is a second diagram of the structure of the identification card;
FIG. 13 is a third diagram of the structure of the identification card;
FIG. 14 is a fourth view of the structure of the identification card;
fig. 15 is a fifth view of the identification card structure.
In the figure: 1. core mainboard 2, preceding shell 3, backshell 4, battery 5, charging base 6, waistband clamp 7, display screen 8, display lamp 9, button.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the present invention is further illustrated by the following specific examples, which are not intended to limit the scope of the invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Example one
As shown in fig. 1-3, the device with automatic intelligent compensation UWB positioning accuracy comprises a cloud platform and a UWB module, wherein the UWB module comprises N UWB base stations and M identification cards, N is greater than or equal to 3, M is greater than or equal to 1, and the identification cards are installed on a person or an object to be measured, are in communication connection with each UWB base station, and are matched with the base stations to realize distance measurement; each UWB base station comprises a base station height measuring module, and the height of the base station is measured by the base station height measuring module; the identification card comprises an identification card height measuring module, and the height of the identification card is measured through the identification card height measuring module; the UWB base station transmits the ranging information and the height information back to the cloud platform through a wire or a network cable, and the cloud platform is used for realizing all data display and data control.
In this embodiment, under the condition of controlling cost, N =3, the M theory is not more than 1000, each is separately located, specifically, the positions of the slave base station B and the slave base station C of the UWB master base station A, UWB at different height positions are not overlapped, the slave base station B of the UWB master base station A, UWB and the slave base station C of the UWB master base station are both in communication connection with the identification card, and the UWB master base station a is in communication connection with the cloud platform; the UWB main base station A comprises a first base station height measuring module, a first MCU main control chip and a second MCU main control chip, wherein the first base station height measuring module is used for measuring the height of the base station and sending the acquired base station height data to the first MCU main control chip; the first UWB positioning module is used for measuring the linear distance between the first UWB positioning module and the identification card in a matching way and sending the acquired linear distance data to the first MCU main control chip; the first MCU main control chip is connected with the first base station height measuring module and the first UWB positioning module and is used for processing the received base station height data and the received linear distance data and sending the processed base station height data and the processed linear distance data to the first wireless communication module; the first wireless communication module is connected with the first MCU main control chip and used for receiving the processed base station height data and the processed linear distance data and sending the processed base station height data and the processed linear distance data to a cloud platform through a wireless network; the UWB main base station A also comprises a first power supply module and a first display module, wherein the first power supply module is connected with the first MCU main control chip and is used for supplying power to the first MCU main control chip, and the first display module is used for displaying data; the UWB slave base station B comprises a second base station height measuring module used for measuring the height of the base station and sending the acquired height data of the base station to a second MCU main control chip; the second UWB positioning module is used for measuring the linear distance between the identification card and the first UWB positioning module in a matching way and sending the acquired distance data to the second MCU main control chip, and the second UWB positioning module has the functions of data transmission communication and positioning; the second MCU main control chip is connected with the second base station height measuring module and the second UWB positioning module and is used for processing the received base station height data and the received linear distance data; the second UWB positioning module is wirelessly interconnected with the first UWB positioning module to realize bidirectional communication between the first MCU main control chip and the second MCU main control chip, and the base station height data and the linear distance data processed by the second MCU main control chip are sent to the first MCU main control chip through a wireless network; the UWB slave base station B and the UWB slave base station C are identical in structure, the second UWB positioning module and the first UWB positioning module are wirelessly interconnected with a third UWB positioning module of the UWB slave base station C, and the third MCU main control chip is in bidirectional communication with the first MCU main control chip and the second MCU main control chip respectively; the identification card comprises a fourth identification card height measuring module which is used for measuring the height of the identification card and sending the acquired height data of the identification card to a fourth MCU main control chip; the fourth UWB positioning module is connected with the fourth MCU main control chip and is respectively used for measuring the linear distance between the first UWB positioning module and the second UWB positioning module in a matching way and the third UWB positioning module, and sending the processed height data of the marking card to the first MCU main control chip or the second MCU main control chip or the third MCU main control chip through a wireless network; the identification card further comprises a fourth power supply module and a fourth display module, wherein the fourth power supply module is connected with the fourth MCU main control chip and is used for supplying power to the fourth MCU main control chip, and the fourth display module is used for displaying data.
Example two
As shown in fig. 10-15, the difference from the first embodiment is that the identification card further includes an identification card body, and the fourth MCU main control chip, the fourth marker card height measurement module, the fourth UWB positioning module, the fourth power supply module, and the fourth display module are all built in the identification card body, and further includes a charging base 5 matched with the identification card body.
Specifically, the identification card body comprises a front shell 2 and a rear shell 3 which are buckled together, the front shell 2 and the rear shell 3 enclose a cavity, a core mainboard 1 and a battery 4 are fixed in the cavity, a waistband clip 6 is installed on the rear shell 3, a limiting groove is formed on the upper surface of a charging base 5, when charging, the bottoms of the front shell 2 and the rear shell 3 are embedded into a limit groove, a fourth MCU main control chip circuit, a fourth marking card height measuring circuit, a fourth UWB positioning circuit, a fourth power supply circuit and a fourth display circuit are all integrated on a core mainboard 1, a charging core board is arranged in a charging base 5, and the charging core board is provided with a charging end and a discharging end, the discharge end of the fourth display module is connected with the charging end of the battery 4 through a contact, the fourth display module further comprises a display screen 7 and a display lamp 8 which are fixed on a panel of the front shell 2, the display screen 7 and the display lamp 8 are both electrically connected with a fourth display circuit, and a key 9 which is electrically connected with a fourth MCU main control chip circuit is further arranged on the front shell 2.
EXAMPLE III
As shown in fig. 8 and 9, the difference from the first embodiment is that the first base station height measuring module includes a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C1, a capacitor C2, a capacitor C3, and a capacitor C4, which complete power filtering and high frequency filtering, the air pressure sensor U1 completes absolute pressure measurement, the temperature sensor J1 completes temperature measurement, and the obtained data is transmitted to the MCU for processing. And according to the obtained temperature and pressure, compensating according to the compensation coefficient to obtain a final pressure value, converting the final pressure value into height data, and sending the height data to the MCU for processing.
Example four
As shown in fig. 1, fig. 6 and fig. 7, the method with automatic intelligent compensation for UWB positioning accuracy, the apparatus with automatic intelligent compensation for UWB positioning accuracy according to application embodiment 1, the method with automatic intelligent compensation for UWB positioning accuracy includes: the identification card firstly measures the distance from the slave base station B, UWB to the slave base station C of the UWB master base station A, UWB; the UWB main base station A measures the vertical height of the UWB main base station A through a first base station height measuring module; the UWB slave base station B measures the vertical height of the UWB slave base station B through a second base station height measuring module; the UWB slave base station C measures the vertical height of the UWB slave base station C through a third base station height measuring module; the vertical height of the identification card is measured by the identification card through a fourth identification card height measuring module; the identification card is wirelessly interconnected with any base station, adjacent base stations are wirelessly interconnected, the ranging information and the height information are collected to the UWB main base station A, the ranging information and the height information are transmitted back to the cloud platform through the UWB main base station A through wires or network cables, the cloud platform carries out data resolving processing through an algorithm, and finally the position of the identification card is obtained.
EXAMPLE five
As shown in the software height algorithm illustration chart of fig. 4, taking the UWB main base station a as an example, the steps of the UWB main base station a measuring the vertical height of the UWB main base station a by the first base station height measuring module are explained,
1. measuring the height of a UWB main base station A as a2 through a first base station height measuring module, and determining a coordinate point A2;
2. the height of the identification card is measured to be B1 through the fourth identification card height measuring module, and a coordinate point B1 is determined, wherein the height needs to be measured and calibrated in real time because the identification card is not fixed and moves at any time;
3. obtaining a height difference a12 from a2-B1, and determining a coordinate point A1;
4. measuring the linear distance between the first UWB positioning module and the identification card by matching the first UWB positioning module with the identification card, and measuring the linear distance from a base station coordinate point A2 to an identification card coordinate point b 1;
5. according to the Pythagorean theorem through the steps
Calculating the distance from the coordinate point A1 to the coordinate point b 1;
6. after the distance from the coordinate point a1 to the coordinate point b1 is obtained, the relative distances between the identification card and the other 2 base stations can be obtained by the same method.
The UWB slave base station B measures the vertical height of the UWB slave base station B through a second base station height measuring module; UWB follows base station C and measures UWB from base station C vertical height through third base station height measurement module, and is the same with UWB main base station A, no longer describes in a tired way.
In a sixth embodiment, referring to fig. 5, a signal flight time diagram of a distance between a master base station and a slave base station, the distance information is obtained by multiplying a radio wave speed of light by a time for the base station to acquire the identification card, and the specific principle is as follows:
firstly, taking the master base station 1 as a reference base station, assuming that the coordinates of the master base station 1 are (AX 1, AY1, AZ 1), the coordinates of the slave base station 2 are (AX 2, AY2, AZ 2), and the coordinates of the slave base station 3 are (AX 3, AY3, AZ 3), the distance difference between the master base station and the slave base station is given by the following relation:
wherein the content of the first and second substances,
indicates the distance from the base station 2 to the main base station 1;
Secondly, the light speed is divided to obtain the distance flight time offset, and the relation is as follows:
wherein the content of the first and second substances,
represents the difference between the time of the tag to the slave base station 2 and the time of the tag to the master base station 1;
represents the difference between the time of the tag to the slave base station 3 and the time of the tag to the master base station 1;
representing the speed of light 3.0 x 10 x 8 m/s.
And thirdly, when the time stamp of the arriving signal is calculated, the offset must be subtracted from the time-of-flight offset, and if the time difference of the arriving signal of the tag cannot be calculated, the time-of-flight signal diagram 5 of the distance between the master base station and the slave base station is referred.
After the three steps are completed, the time difference of arrival of every two labels reaching the master base station and the slave base station can be calculated, namely the formula is as follows:
Multiplying by the speed of light to obtain the distance difference, wherein the formula is as follows:
wherein the content of the first and second substances,
represents the difference between the distance from the base station of tag number 2 and the distance from the tag to the host station;
represents the difference between the distance from the base station of tag number 3 and the distance from the tag to the host station;
representing the speed of light 3.0 x 10 x 8 m/s.
The coordinate xy of the identification card can be resolved through an algorithm, and the position of the identification card is finally obtained.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a UWB positioning accuracy device with automatic intelligent compensation which characterized in that: comprises a cloud platform and a UWB module, wherein the UWB module comprises N UWB base stations and M identification cards,
n is more than or equal to 3, M is more than or equal to 1, the identification card is arranged on a tested person or object, is in communication connection with each UWB base station and is matched with the base station to realize distance measurement;
each UWB base station comprises a base station height measuring module, and the height of the base station is measured by the base station height measuring module;
the identification card comprises an identification card height measuring module, and the height of the identification card is measured through the identification card height measuring module;
the UWB base station transmits the ranging information and the height information back to the cloud platform through a wire or a network cable, and the cloud platform is used for realizing all data display and data control.
2. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 1 wherein: n =3, specifically UWB master base station A, UWB slave base station B and UWB slave base station C of different height position, the position is not overlapped, UWB master base station A, UWB slave base station B and UWB slave base station C all with sign cartoon communication connection, UWB master base station A and cloud platform communication connection.
3. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 2, wherein: the UWB main base station A comprises a first base station height measuring module, a first MCU main control chip and a second MCU main control chip, wherein the first base station height measuring module is used for measuring the height of the base station and sending the acquired base station height data to the first MCU main control chip;
the first UWB positioning module is used for measuring the linear distance between the first UWB positioning module and the identification card in a matching way and sending the acquired linear distance data to the first MCU main control chip;
the first MCU main control chip is connected with the first base station height measuring module and the first UWB positioning module and is used for processing the received base station height data and the received linear distance data and sending the processed base station height data and the processed linear distance data to the first wireless communication module;
and the first wireless communication module is connected with the first MCU main control chip and used for receiving the processed base station height data and the processed linear distance data and sending the processed base station height data and the processed linear distance data to a cloud platform through a wireless network.
4. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 3, wherein: the UWB main base station A further comprises a first power supply module and a first display module, wherein the first power supply module is connected with the first MCU main control chip and supplies power to the first MCU main control chip, and the first display module is used for displaying data.
5. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 4 wherein: the UWB slave base station B comprises a second base station height measuring module used for measuring the height of the base station and sending the acquired height data of the base station to a second MCU main control chip;
the second UWB positioning module is used for measuring the linear distance between the identification card and the first UWB positioning module in a matching way and sending the acquired distance data to the second MCU main control chip, and the second UWB positioning module has the functions of data transmission communication and positioning;
the second MCU main control chip is connected with the second base station height measuring module and the second UWB positioning module and is used for processing the received base station height data and the received linear distance data;
the second UWB positioning module is wirelessly interconnected with the first UWB positioning module to realize bidirectional communication between the first MCU main control chip and the second MCU main control chip, and the base station height data and the linear distance data processed by the second MCU main control chip are sent to the first MCU main control chip through a wireless network;
the UWB slave base station B has the same structural structure as the UWB slave base station C,
the second UWB positioning module and the first UWB positioning module are wirelessly interconnected with a third UWB positioning module of a UWB slave base station C, and the third MCU main control chip is in two-way communication with the first MCU main control chip and the second MCU main control chip respectively.
6. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 5, wherein: the identification card comprises a fourth identification card height measuring module which is used for measuring the height of the identification card and sending the collected height data of the identification card to a fourth MCU main control chip;
and the fourth UWB positioning module is respectively used for measuring the linear distance between the first UWB positioning module and the second UWB positioning module in a matching way and the third UWB positioning module, and transmitting the processed height data of the marking card to the first MCU main control chip or the second MCU main control chip or the third MCU main control chip through a wireless network.
7. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 6, wherein: the identification card further comprises a fourth power supply module and a fourth display module, wherein the fourth power supply module is connected with the fourth MCU main control chip and is used for supplying power to the fourth MCU main control chip, and the fourth display module is used for displaying data.
8. The apparatus with automatic intelligent compensation for UWB positioning accuracy of claim 7, wherein: the identification card further comprises an identification card body, a fourth MCU main control chip, a fourth marking card height measuring module, a fourth UWB positioning module, a fourth power supply module and a fourth display module are all arranged in the identification card body, and the identification card further comprises a charging base matched with the identification card body.
9. A method for automatically and intelligently compensating UWB positioning accuracy is characterized in that: the device with automatic intelligent compensation for UWB positioning accuracy of any one of the application claims 1 to 8, the method with automatic intelligent compensation for UWB positioning accuracy comprises:
the identification card firstly measures the distance from the slave base station B, UWB to the slave base station C of the UWB master base station A, UWB;
the UWB main base station A measures the vertical height of the UWB main base station A through a first base station height measuring module;
the UWB slave base station B measures the vertical height of the UWB slave base station B through a second base station height measuring module;
the UWB slave base station C measures the vertical height of the UWB slave base station C through a third base station height measuring module;
the vertical height of the identification card is measured by the identification card through a fourth identification card height measuring module;
the distance measuring information and the height information are collected to the UWB main base station A, the distance measuring information and the height information are transmitted back to the cloud platform through the UWB main base station A through wires or network cables, the cloud platform carries out data resolving processing through an algorithm, and finally the position of the identification card is obtained.
10. The method with automatic intelligent compensation for UWB positioning accuracy of claim 9 wherein: the distance information is obtained by multiplying the speed of radio waves by the time for the base station to acquire the identification card, so that the distance between the identification card and the base station is obtained.
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| CN114513748A (en) * | 2022-03-15 | 2022-05-17 | 北京远特科技股份有限公司 | Indoor high-precision positioning method and device and electronic equipment |
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