CN114071392B - UWB indoor high-precision three-dimensional live-action data construction method and system - Google Patents
UWB indoor high-precision three-dimensional live-action data construction method and system Download PDFInfo
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- CN114071392B CN114071392B CN202111625129.8A CN202111625129A CN114071392B CN 114071392 B CN114071392 B CN 114071392B CN 202111625129 A CN202111625129 A CN 202111625129A CN 114071392 B CN114071392 B CN 114071392B
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The application discloses a UWB indoor high-precision three-dimensional live-action data construction method and system, wherein the method comprises the following steps: positioning the position of a target building on the BIM data graph, and acquiring the geodetic coordinates of the target building; selecting a datum point from a target building, and establishing positioning association of the datum point and a geodetic coordinate; acquiring an indoor panoramic image of the area where the datum point is located through panoramic image equipment; establishing an indoor three-dimensional coordinate system of the area where the datum point is located; acquiring a target position of an indoor target by using a UWB positioning technology, and marking the target position in an indoor three-dimensional coordinate system; converting the indoor three-dimensional coordinate system into an indoor cambered surface three-dimensional coordinate system, and then carrying out superposition processing on the indoor panoramic image to complete the construction of indoor high-precision three-dimensional live-action data. The system comprises a building positioning module, an indoor target positioning module, a BIM data graph and a display module; the indoor image is displayed in a 360-degree panoramic mode, and the position and the surrounding environment of the indoor target are accurately distinguished.
Description
Technical Field
The application belongs to the technical field of communication positioning, and particularly relates to a method and a system for constructing UWB indoor high-precision three-dimensional live-action data.
Background
The satellite positioning system widely used at present mainly comprises a GPS system, a Beidou satellite navigation system which is independently researched and developed in China and a Russian GLONASS system, and the technology is mature.
However, these three navigation technologies are basically only applied outdoors, which is mainly due to the shielding and shielding of satellite signals by the building, so that satellite signals are difficult to obtain in the building, and meanwhile, the positioning in the building is very high-precision positioning, and the positioning precision even in centimeter level can not meet the precision requirements of GPS, beidou and GLONASS.
At present, the indoor positioning technology of a building is rough, only the approximate position of a target can be displayed, the three-dimensional positioning technology is difficult to combine with the three-dimensional structure of the building, and the three-dimensional positioning technology cannot be accurately associated with the ground positioning, so that satellite positioning and indoor positioning are disjointed.
On the basis of the existing positioning technology, the outdoor positioning and the indoor positioning are combined accurately, and the indoor target can be positioned in the indoor scene reproduction mode, so that the method becomes a research focus in the field.
Disclosure of Invention
The application provides a UWB indoor high-precision three-dimensional live-action data construction method and system, which are characterized in that an association relation is established between outdoor positioning and a specific building, and indoor scene reproduction and indoor target positioning are simultaneously carried out in the building, so that indoor and outdoor integrated accurate positioning is formed.
To achieve the above object, the present application provides the following solutions:
a UWB indoor high-precision three-dimensional live-action data construction method comprises the following steps:
positioning the position of a target building on a BIM data graph, and acquiring the geodetic coordinates of the target building;
selecting a datum point from the target building, and establishing positioning association between the datum point and the geodetic coordinate, wherein the geodetic coordinate is the building coordinate of the target building;
acquiring an indoor panoramic image of the area where the datum point is located through panoramic image equipment;
establishing an indoor three-dimensional coordinate system of the area where the datum point is located;
acquiring a target position of an indoor target by using a UWB positioning technology, and marking the target position in the indoor three-dimensional coordinate system;
according to the visual curvature of the panoramic image equipment, converting the indoor three-dimensional coordinate system into an indoor cambered surface three-dimensional coordinate system corresponding to the indoor panoramic image, and then carrying out superposition processing on the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system to obtain panoramic positioning of the indoor target in the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system, so as to complete indoor high-precision three-dimensional live-action data construction.
Optionally, when the reference point and the geodetic coordinate cannot establish the positioning association, the geodetic coordinate is adjusted until the reference point and the geodetic coordinate establish the positioning association.
Optionally, the BIM data diagram is in the form of a three-dimensional map representation.
Optionally, a reference point of the selected target building is located at the center of the top of each spatial region within the target building, and the center of the top of the entire target building.
Optionally, in each space region, three UWB positioning base stations are used to establish three-dimensional space positioning by the UWB positioning technology;
the target position includes a three-dimensional coordinate position of the indoor target and a distance and a relative angle of the indoor target from each UWB positioning base station.
On the other hand, in order to achieve the above purpose, the present application also provides a UWB indoor high-precision three-dimensional live-action data construction system, including a building positioning module, an indoor target positioning module, a BIM data diagram and a display module;
the BIM data map is used for providing ground map data;
the building positioning module is used for positioning the position of a target building through the BIM data graph and obtaining the geodetic coordinates of the target building;
the indoor target positioning module is used for acquiring panoramic positioning of an indoor target in a panoramic image of the target building;
the display module is used for displaying the target building and the panoramic positioning.
Optionally, the BIM data diagram is in the form of a three-dimensional map representation.
Optionally, the indoor target positioning module comprises a coordinate system unit, a panoramic image unit, a UWB positioning unit and a panoramic positioning unit;
the coordinate system unit is used for establishing an indoor three-dimensional coordinate system, and the origin of the indoor three-dimensional coordinate system is positioned on the roof of the center of each space area of the target building;
the panoramic image unit is used for acquiring an indoor panoramic image, and is positioned at the origin of the indoor three-dimensional coordinate system;
the UWB positioning unit is used for acquiring the target position of the indoor target;
the coordinate system unit is further used for marking the target position in the indoor three-dimensional coordinate system;
the panoramic positioning unit is used for converting the indoor three-dimensional coordinate system marked with the target position into an indoor cambered surface three-dimensional coordinate system according to the visual curvature of the panoramic image unit, and superposing the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system to obtain panoramic positioning of the indoor target in the indoor panoramic image.
Optionally, the UWB positioning unit includes a UWB server, a UWB base station, and a UWB tag;
the UWB base station is communicated with the UWB tag, and the UWB base station is used for acquiring the distance between the UWB tag and the UWB base station;
the UWB positioning unit comprises three UWB base stations;
the UWB server is used for obtaining the target position of the UWB tag according to the distance between the UWB tag and the three UWB base stations.
Optionally, the target position includes a three-dimensional coordinate position of the indoor target and a distance and a relative angle of the indoor target from each UWB positioning base station.
The beneficial effects of this application are:
the application discloses a UWB indoor high-precision three-dimensional live-action data construction method and system, wherein an association relation is established between outdoor positioning and a specific building, and indoor scene reproduction and indoor target positioning are simultaneously carried out in the building, so that indoor and outdoor integrated accurate positioning is formed; meanwhile, because the indoor positioning is based on the panoramic image form, the indoor positioning can be performed at 360 DEG 0 The panoramic mode not only presents indoor images, but also can accurately distinguish the position and the surrounding environment of the indoor target, and also promotes the experience feeling of the user in the scene.
Drawings
For a clearer description of the technical solutions of the present application, the drawings that are required to be used in the embodiments are briefly described below, it being evident that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a UWB indoor high-precision three-dimensional live-action data construction method according to an embodiment of the present application;
fig. 2 is an example of a building room in accordance with the first embodiment of the present application;
fig. 3 is a schematic structural diagram of a UWB indoor high-precision three-dimensional real-scene data construction system according to the second embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1
Referring to fig. 1, a schematic flow chart of a UWB indoor high-precision three-dimensional live-action data construction method according to an embodiment of the present application mainly includes the following steps:
first, the positioning of the target building is performed using a conventional BIM data map, and the geodetic coordinates of the target building are obtained from the BIM data, which coordinates are provided by the BIM data map and may be in the form of longitude and latitude.
The BIM data graph can display the position of a target building and the surrounding environment of the target building on the map in a three-dimensional real-time mode, and even can dynamically update a real-time scene.
Then, after the BIM data map of the target building is located, the geodetic coordinates can be associated with a reference point selected in the target building, i.e. the geodetic coordinates are regarded as the coordinates of the target building. However, there may be a deviation in the positioning of the BIM data map, such as due to scale, visual effect, and the reference point of the selected target building cannot be correlated with the geodetic coordinates, at which time the geodetic coordinates may be manually fine-tuned until the reference point and the geodetic coordinates are correlated.
In this embodiment, the reference point of the selected target building is located at the top of the center of each spatial region within the target building, for example, the center position of the roof of each room within the target building, and the center position of the roof of the entire building, wherein the reference point of the roof center of the entire building is taken as the coordinates of the entire building, and the reference point of the roof center of the room is taken as the coordinates of the room.
On the basis of the datum point, a panoramic image of the area where the datum point is located is established, and a certain room is taken as an example for explanation below:
taking room a in fig. 2 as an example, the geodetic coordinates of a building can be regarded as the coordinates of room a by adjusting the association of the geodetic coordinates with reference point a' of room a. And taking the datum point A' as an original point, and acquiring an indoor panoramic image of the whole room A through panoramic image equipment. The panoramic imaging device can adopt commercially available mature panoramic cameras, and the panoramic cameras usually adopt a double-lens arrangement for respectively shooting two 180 pieces 0 The image of the region is then combined into a whole 360 0 Is a panoramic image photograph of (1). However, due to the distance between the surrounding image and the shooting point, when the panoramic image is watched, the same position on the panoramic image photo can present a certain visual displacement due to the change of the visual angle, which is the normal visual curvature.
And then taking the datum point A' as an origin, and establishing an indoor three-dimensional coordinate system of the room A. Since the reference point a' is located at the center of the roof, the z-axis coordinates of the three-dimensional coordinate system are negative, positive and negative values can occur in the x-axis coordinates and the y-axis coordinates, and the unit length of the coordinates can adopt the precision of the later-used UWB positioning technology.
UWB positioning technology is a small-scale accurate positioning technology commonly used at present, and many mature products and technical schemes are available for this embodiment. In order to enable accurate three-dimensional positioning, in this embodiment, a composition of three UWB positioning base stations is used, two of which are located at two opposite roof corners of a room, one of which is located at a floor corner of the room, and the target position of an indoor target includes the distance and angle of the position from each positioning base station, and the three-dimensional coordinate position relative to the reference point a'. If necessary, the positioning base stations of the whole building or other rooms can be associated, and three-dimensional coordinate position representations of multiple angles can be obtained.
Through UWB positioning technology, the accurate position of the indoor target can be obtained, and the coordinates of the position are marked in the indoor three-dimensional coordinate system.
The three-dimensional coordinate system marked with the indoor target is a standard space coordinate system and cannot be associated with the panoramic image acquired beforeThe reason is that the visual curvature mentioned in the foregoing makes the three-dimensional coordinates unable to adapt to the change in visual angle, resulting in positional deviation. Therefore, the three-dimensional coordinate system needs to be modified, and the three-dimensional coordinate system is modified according to visual changes of panoramic image equipment in the process of establishing the panoramic image and the process of watching the panoramic image, and the cambered surface three-dimensional coordinate system which is the same as the panoramic image is established, so that the three-dimensional coordinate system can be correspondingly adjusted along with the change of visual angles. At this time, the previous panoramic image and the transformed cambered surface three-dimensional coordinate system can be overlapped, and panoramic positioning of the indoor target in the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system is obtained. At this time the user sees, a kind of 360 0 And positioning an object in the panoramic image.
Based on the indoor and outdoor integrated positioning method, the outdoor positioning and three-dimensional display can be completed by means of the existing BIM data diagram, the indoor accurate positioning can be established, and the indoor accurate positioning can be presented in a panoramic image mode.
Example two
Fig. 3 is a schematic structural diagram of a UWB indoor high-precision three-dimensional real-scene data construction system according to a second embodiment of the present application, which mainly includes a building positioning module, an indoor target positioning module, a BIM data diagram and a display module.
The specific description of each module in this embodiment is as follows:
the BIM data map is used for providing the ground map data, positioning the target building, and acquiring the ground coordinates of the target building through the BIM data, wherein the coordinates are provided by the BIM data map and can be in the form of longitude and latitude. All BIM data graphs with navigation and positioning functions can be used, such as hundred degrees, gordon and the like, the maps can show the positions of target buildings and the surrounding environments of the target buildings on the maps in a three-dimensional real-scene mode, and even the real-time scene can be dynamically updated.
The building positioning module is used for positioning the position of the target building through the BIM data graph and acquiring the geodetic coordinates of the target building through the BIM data. In this embodiment, a reference point is set in the building, and the reference point is associated with the ground coordinate of the building, that is, the building coordinate.
The indoor target positioning module is used for acquiring panoramic positioning of an indoor target in a panoramic image of a target building. In this embodiment, the system includes a coordinate system unit, a panoramic image unit, a UWB positioning unit, and a panoramic positioning unit.
The coordinate system unit is used for establishing an indoor three-dimensional coordinate system, and the origin of the indoor three-dimensional coordinate system is positioned on the roof of the center of each space area of the target building; therefore, the z-axis coordinate of the three-dimensional coordinate system is negative, positive and negative values can also appear on the x-axis coordinate and the y-axis coordinate, and the unit length of the coordinate can adopt the precision of the UWB positioning unit used later.
The panoramic image unit is used for acquiring an indoor panoramic image, and the panoramic image unit is located at the origin of an indoor three-dimensional coordinate system. The panoramic image unit may be a commercially available panoramic image device such as a mature panoramic camera, and the panoramic image device usually adopts a dual-lens arrangement to respectively shoot two 180 deg. s 0 The image of the region is then combined into a whole 360 0 Is a panoramic image photograph of (1). However, due to the distance between the surrounding image and the shooting point, when the panoramic image is watched, the same position on the panoramic image photo can show a certain visual displacement due to the change of the visual angle, which is the normal visual curvature
The UWB positioning unit is used for acquiring the target position of the indoor target; UWB positioning technology is a small-scale accurate positioning technology commonly used at present, and many mature products and technical schemes are available for this embodiment. Conventional UWB positioning units include UWB servers, UWB base stations, and UWB tags. In the embodiment, three UWB base stations are used for constructing three-dimensional positioning, two roof corners located in opposite rooms, one roof corner located in the room, the UWB base stations are communicated with UWB labels, and the UWB base stations are used for acquiring the distance between the UWB labels and the UWB base stations; the UWB server is used for obtaining the target position of the UWB tag according to the distance between the UWB tag and the three UWB base stations. In this embodiment, the target location includes the distance and angle of the location from each positioning base station, as well as the three-dimensional coordinate location relative to the reference point. If necessary, the positioning base stations of the whole building or other rooms can be associated, and three-dimensional coordinate position representations of multiple angles can be obtained.
After the coordinate position is acquired, the coordinate system unit marks the target position in an indoor three-dimensional coordinate system.
The panoramic positioning unit is used for converting the indoor three-dimensional coordinate system marked with the target position into an indoor cambered surface three-dimensional coordinate system according to the visual curvature of the panoramic image equipment, so that the three-dimensional coordinate system can be correspondingly adjusted along with the change of the visual angle. And then, carrying out superposition processing on the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system to obtain panoramic positioning of the indoor target in the indoor panoramic image. At this time the user sees, a kind of 360 0 And positioning an object in the panoramic image.
Finally, the accurate positioning of the target building on the BIM data graph and 360 of the indoor targets in the building are displayed through the display module 0 Panoramic positioning can adopt conventional display equipment, and is preferable, can possess touch function for provide better experience effect.
The foregoing embodiments are merely illustrative of the preferred embodiments of the present application and are not intended to limit the scope of the present application, and various modifications and improvements made by those skilled in the art to the technical solutions of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. The method for constructing the UWB indoor high-precision three-dimensional live-action data is characterized by comprising the following steps of:
positioning the position of a target building on a BIM data graph, and acquiring the geodetic coordinates of the target building;
selecting a datum point from the target building, and establishing positioning association between the datum point and the geodetic coordinate, wherein the geodetic coordinate is the building coordinate of the target building;
acquiring an indoor panoramic image of the area where the datum point is located through panoramic image equipment;
establishing an indoor three-dimensional coordinate system of the area where the datum point is located;
acquiring a target position of an indoor target by using a UWB positioning technology, and marking the target position in the indoor three-dimensional coordinate system;
according to the visual curvature of the panoramic image equipment, converting the indoor three-dimensional coordinate system into an indoor cambered surface three-dimensional coordinate system corresponding to the indoor panoramic image, and then carrying out superposition processing on the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system to obtain panoramic positioning of the indoor target in the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system, so as to complete indoor high-precision three-dimensional live-action data construction.
2. The UWB indoor high precision three dimensional live-action data construction method of claim 1 wherein when the reference point and the geodetic coordinates cannot establish the positioning association, the geodetic coordinates are adjusted until the reference point and the geodetic coordinates establish the positioning association.
3. The method for constructing high-precision three-dimensional real scene data in UWB room according to claim 1, wherein said BIM data map is in the form of three-dimensional map representation.
4. The method of constructing high-precision three-dimensional real-scene data in UWB indoor according to claim 1, wherein one reference point of the selected target building is located at the center of the top of each spatial region in the target building and at the center position of the top of the entire target building.
5. The method for constructing high-precision three-dimensional real scene data in UWB room according to claim 4, wherein in each of said spatial areas, three UWB positioning base stations are used for said UWB positioning technique to establish three-dimensional spatial positioning;
the target position includes a three-dimensional coordinate position of the indoor target and a distance and a relative angle of the indoor target from each UWB positioning base station.
6. The UWB indoor high-precision three-dimensional live-action data construction system is characterized by comprising a building positioning module, an indoor target positioning module, a BIM data graph and a display module;
the BIM data map is used for providing ground map data; the BIM data graph adopts a three-dimensional map representation form;
the building positioning module is used for positioning the position of a target building through the BIM data graph and obtaining the geodetic coordinates of the target building;
the indoor target positioning module is used for acquiring panoramic positioning of an indoor target in a panoramic image of the target building and comprises a coordinate system unit, a panoramic image unit, a UWB positioning unit and a panoramic positioning unit; the coordinate system unit is used for establishing an indoor three-dimensional coordinate system, and the origin of the indoor three-dimensional coordinate system is positioned on the roof of the center of each space area of the target building; the panoramic image unit is used for acquiring an indoor panoramic image, and is positioned at the origin of the indoor three-dimensional coordinate system; the UWB positioning unit is used for acquiring the target position of the indoor target; the coordinate system unit is further used for marking the target position in the indoor three-dimensional coordinate system; the panoramic positioning unit is used for converting the indoor three-dimensional coordinate system marked with the target position into an indoor cambered surface three-dimensional coordinate system according to the visual curvature of the panoramic image unit, and superposing the indoor panoramic image and the indoor cambered surface three-dimensional coordinate system to obtain panoramic positioning of the indoor target in the indoor panoramic image;
the display module is used for displaying the target building and the panoramic positioning.
7. The UWB indoor high precision three dimensional real scene data construction system of claim 6 wherein the UWB positioning unit comprises a UWB server, a UWB base station and a UWB tag;
the UWB base station is communicated with the UWB tag, and the UWB base station is used for acquiring the distance between the UWB tag and the UWB base station;
the UWB positioning unit comprises three UWB base stations;
the UWB server is used for obtaining the target position of the UWB tag according to the distance between the UWB tag and the three UWB base stations.
8. The UWB indoor high precision three dimensional live-action data construction system of claim 7 wherein the target locations comprise three dimensional coordinate locations of the indoor targets and distances and relative angles of the indoor targets from each UWB positioning base station.
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