CN114363799A - Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to demands - Google Patents
Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to demands Download PDFInfo
- Publication number
- CN114363799A CN114363799A CN202111456706.5A CN202111456706A CN114363799A CN 114363799 A CN114363799 A CN 114363799A CN 202111456706 A CN202111456706 A CN 202111456706A CN 114363799 A CN114363799 A CN 114363799A
- Authority
- CN
- China
- Prior art keywords
- positioning
- data
- upper computer
- party application
- base station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses an unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements, which comprises the following modules: s1, a positioning part comprises n UWB positioning base stations and k UWB positioning tags, the UWB positioning base stations are numbered from the positioning base station 1 to the positioning base station n, and the positioning base stations and the positioning tags measure distances. According to the invention, the mode of adding the MQTT service mechanism to the upper computer, the upper computer supports local application and remote data push service, and the subscription push service mechanism is adopted, so that a set of positioning system can push data for a plurality of applications at the same time, the number of network requests and server response processing is reduced, the burdens of the positioning system server and the network when a plurality of applications need high-frequency data at the same time are reduced, when the application system does not need positioning data, the positioning system stops acquiring the positioning data, the invalid endurance time of the positioning tag is reduced, the positioning tag can work when the positioning data is needed, and the service time of a positioning tag battery can be prolonged.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an indoor positioning system of an unmanned aerial vehicle, which is started and stopped dynamically according to requirements.
Background
The self-built positioning module or the acquisition of positioning data from a dedicated positioning system has the following disadvantages: as the applications requiring the positioning service become more and more, the manner of establishing the positioning service module by each application system causes resource waste; positioning systems specially providing positioning services for other application systems usually adopt a request-response mode to acquire positioning data, a certain application system needs to send a request once every time data is needed, when the request frequency is high, the positioning system server and the network are burdened, and especially when a plurality of application programs request positioning data frequently at the same time, the positioning system server and the network are burdened greatly; the application system can not actively control the start and stop of the positioning system for data collection, when the application system does not need the time period of the positioning data, the positioning system still collects the positioning data, and the effective endurance time is reduced for the positioning label powered by the battery. Having the location tag constantly in an invalid endurance state will affect the battery performance of the location tag.
There is therefore a need to provide a more efficient indoor drone positioning system.
Disclosure of Invention
The invention aims to: in order to solve the problems, the unmanned aerial vehicle indoor positioning system which is started and stopped dynamically according to requirements is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an indoor positioning system of unmanned aerial vehicle who opens and stop according to demand developments, includes following module:
s1, a positioning part comprises n UWB positioning base stations and k UWB positioning tags, the UWB positioning base stations are numbered from a positioning base station 1 to a positioning base station n, each positioning base station and each positioning tag measure distance, and each positioning base station obtains the distance corresponding to the positioning tag;
s2, distance data acquisition and analysis: the positioning base stations 2 to n send respective distance data with the tags to the positioning base station 1, the upper computer is connected with the UWB positioning base station 1 through a USB interface for communication, and the tags and the positioning data of each base station are uniformly sent to the upper computer through a USB;
s3, data analysis: the upper computer program carries out mode control, parameter configuration to location base station location label, gathers, analyzes, demonstrates label location data, and simultaneously, the upper computer program is according to the subscription condition of third party application, to its propelling movement locating data when third party application needs.
Preferably, the upper computer program in S3 includes: the data receiving and sending module receives data from the UWB positioning base station 1 through the USB port and sends instructions to the UWB positioning base station 1; the message analysis module analyzes the received positioning data; the data display module displays the analyzed data; the data pushing module pushes the positioning data to the MQTT server when needed; the data export module supports exporting data in an Excel mode; the control module carries out mode control and parameter configuration on the positioning label of the positioning base station; and the message assembling module assembles the control command into a communication message after receiving the control command, and the communication message is sent by the data receiving and sending module.
Preferably, the upper computer is connected to the MQTT server through the ethernet, the MQTT server IP address is configured on the upper computer, the port, the client account and other information are connected to the MQTT server, the upper computer subscribes to a position information request topic, a third-party application program waiting for positioning data to send a positioning data request, positioning tag data starts to be acquired after the positioning data sending request of the third-party application program is received, the positioning data is pushed to the MQTT server through the position information data topic for the third-party application program to subscribe, and when the third-party application program does not subscribe to the positioning data and a user actively acquires the positioning data by operating the upper computer, the acquisition of the positioning data is stopped.
Preferably, the third-party application program is connected to the MQTT server through the ethernet, when a certain third-party application program needs to locate the location data of the tag, the third-party application program firstly subscribes to a location information data topic, and after the subscription is successful, the third-party application program issues a message through a location information request topic to request the upper computer to send the location data, and then waits for the upper computer to push the location data.
Preferably, the third-party application program acquires the positioning data from the upper computer through the MQTT service, the third-party application program acquires the positioning data at the same time, and the pushing of the positioning data is stopped when the third-party application program does not subscribe to the positioning data.
Preferably, when the third-party application program requests a plurality of positioning data simultaneously, the first third-party application program subscribes the position information data topic successfully, the information is published through the position information request topic after passing through the position information, the upper computer is requested to send the positioning data, the upper computer starts to collect the positioning tag data, the positioning data is pushed to the MQTT server through the position information data topic, all third-party application programs subscribing the position information data topic consume the positioning data, and the pushing of the positioning data are stopped until the last third-party application program no longer subscribes the positioning data.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
this application is through the mode of host computer with MQTT service mechanism, the host computer supports local application and remote data push service, adopt and subscribe the push service mechanism, it is a plurality of application push data simultaneously to have realized one set of positioning system, the quantity of network request and server response processing has been reduced, the burden of positioning system server and network when a plurality of application need high frequency data simultaneously, the period when application does not need the location data, positioning system stops to gather the location data, the invalid duration of location label has been reduced, let the location label do not work again when needs location data, help prolonging the live time of location label battery.
Drawings
Fig. 1 shows a block diagram of a system provided according to an embodiment of the present invention.
Fig. 2 shows a functional block diagram of a host computer according to an embodiment of the present invention.
Fig. 3 shows a timing chart of a single third-party application obtaining positioning data from an upper computer through the MQTT service according to the embodiment of the present invention.
Fig. 4 shows a timing chart of a plurality of third-party applications obtaining positioning data from an upper computer through MQTT service according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution:
the utility model provides an indoor positioning system of unmanned aerial vehicle who opens and stop according to demand developments, includes following module:
s1, a positioning part comprises n UWB positioning base stations and k UWB positioning tags, the UWB positioning base stations are numbered from a positioning base station 1 to a positioning base station n, each positioning base station and each positioning tag measure distance, and each positioning base station obtains the distance corresponding to the positioning tag;
s2, distance data acquisition and analysis: the positioning base stations 2 to n send respective distance data with the tags to the positioning base station 1, the upper computer is connected with the UWB positioning base station 1 through a USB interface for communication, and the tags and the positioning data of each base station are uniformly sent to the upper computer through a USB;
s3, data analysis: the upper computer program carries out mode control, parameter configuration to location base station location label, gathers, analyzes, demonstrates label location data, and simultaneously, the upper computer program is according to the subscription condition of third party application, to its propelling movement locating data when third party application needs.
The upper computer program in the S3 includes: the data receiving and sending module receives data from the UWB positioning base station 1 through the USB port and sends instructions to the UWB positioning base station 1; the message analysis module analyzes the received positioning data; the data display module displays the analyzed data; the data pushing module pushes the positioning data to the MQTT server when needed; the data export module supports exporting data in an Excel mode; the control module carries out mode control and parameter configuration on the positioning label of the positioning base station; and the message assembling module assembles the control command into a communication message after receiving the control command, and the communication message is sent by the data receiving and sending module.
The upper computer passes through ethernet and is connected to MQTT server, configuration MQTT server IP address on the upper computer, the port, behind information such as client account, can be connected to MQTT server, the upper computer is connected to behind the MQTT server, subscribe position information request topic, wait to need the third party application of location data to send the location data request, begin to gather the location label data after the location data send request of third party application is received, and with location data propelling movement to MQTT server through position information data topic, supply third party application to subscribe, when there is not third party application to subscribe the location data and not user when gathering the location data through operating the host computer initiative, stop promptly gathering the location data.
Third party application program is connected to MQTT server through Ethernet, when a certain third party application program needs to position the positioning data of label, firstly subscribes to the position information data topic, and after the subscription is successful, the message is published through the position information request topic, and the upper computer is requested to send the positioning data, and then the upper computer is waited to push the positioning data.
The third-party application program obtains the positioning data from the upper computer through the MQTT service, the third-party application program obtains the positioning data at the same time, and the positioning data is stopped being pushed when the third-party application program does not subscribe the positioning data.
When a third party application program requests positioning data simultaneously, the first third party subscribes the position information data topic and subscribes successfully, the information is published through the position information request topic after passing through the position information, the upper computer is requested to send the positioning data, the upper computer starts to collect the positioning tag data, the positioning data is pushed to an MQTT server through the position information data topic, all third party application programs subscribing the position information data topic consume the positioning data, and the pushing and the positioning data are stopped collecting until the last third party application program no longer subscribes the positioning data.
The previous description of the embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The utility model provides an according to unmanned aerial vehicle indoor positioning system who stops of demand developments which characterized in that includes following module:
s1, a positioning part comprises n UWB positioning base stations and k UWB positioning tags, the UWB positioning base stations are numbered from a positioning base station 1 to a positioning base station n, each positioning base station and each positioning tag measure distance, and each positioning base station obtains the distance corresponding to the positioning tag;
s2, distance data acquisition and analysis: the positioning base stations 2 to n send respective distance data with the tags to the positioning base station 1, the upper computer is connected with the UWB positioning base station 1 through a USB interface for communication, and the tags and the positioning data of each base station are uniformly sent to the upper computer through a USB;
s3, data analysis: the upper computer program carries out mode control, parameter configuration to location base station location label, gathers, analyzes, demonstrates label location data, and simultaneously, the upper computer program is according to the subscription condition of third party application, to its propelling movement locating data when third party application needs.
2. The unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements of claim 1, wherein the upper computer program in the S3 comprises: the data receiving and sending module receives data from the UWB positioning base station 1 through the USB port and sends instructions to the UWB positioning base station 1; the message analysis module analyzes the received positioning data; the data display module displays the analyzed data; the data pushing module pushes the positioning data to the MQTT server when needed; the data export module supports exporting data in an Excel mode; the control module carries out mode control and parameter configuration on the positioning label of the positioning base station; and the message assembling module assembles the control command into a communication message after receiving the control command, and the communication message is sent by the data receiving and sending module.
3. The unmanned aerial vehicle indoor positioning system started and stopped dynamically according to requirements of claim 1 is characterized in that the upper computer is connected to an MQTT server through an Ethernet, the upper computer can be connected to the MQTT server after being configured with information such as an IP address, a port and a client account number of the MQTT server, the upper computer is connected to an MQTT server and subscribes to a position information request topic, a third-party application program waiting for positioning data sends a positioning data request, positioning tag data starts to be acquired after the positioning data sending request of the third-party application program is received, the positioning data is pushed to the MQTT server through the position information data, the third-party application program subscribes, and when the third-party application program does not subscribe to the positioning data and a user actively acquires the positioning data by operating the upper computer, the acquisition is stopped.
4. The unmanned aerial vehicle indoor positioning system started and stopped dynamically according to requirements of claim 3, wherein the third party application programs are connected to an MQTT server through Ethernet, when a certain third party application program needs positioning data of a positioning tag, a position information data topic is subscribed first, after the subscription is successful, a message is published through a position information request topic, an upper computer is requested to send the positioning data, and then the upper computer waits for pushing the positioning data.
5. The unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements of claim 4, wherein the third-party application program obtains positioning data from the upper computer through MQTT service, the third-party application program obtains the positioning data at the same time, and the pushing of the positioning data is stopped when the third-party application program does not subscribe to the positioning data.
6. The unmanned aerial vehicle indoor positioning system started and stopped dynamically according to requirements of claim 5, wherein when a plurality of third-party application programs request positioning data simultaneously, a first third party subscribes a position information data topic successfully, after passing position information, the third party application programs request the topic to publish a message, request the upper computer to send the positioning data, the upper computer starts to collect positioning tag data, and pushes the positioning data to an MQTT server through the position information data topic, so that all third-party application programs subscribing the position information data topic consume the positioning data, and the collection of pushed positioning data is stopped until the last third-party application program no longer subscribes the positioning data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456706.5A CN114363799B (en) | 2021-12-01 | 2021-12-01 | Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111456706.5A CN114363799B (en) | 2021-12-01 | 2021-12-01 | Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114363799A true CN114363799A (en) | 2022-04-15 |
| CN114363799B CN114363799B (en) | 2023-05-26 |
Family
ID=81097671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111456706.5A Active CN114363799B (en) | 2021-12-01 | 2021-12-01 | Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to requirements |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114363799B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114793230A (en) * | 2022-04-23 | 2022-07-26 | 中国人民解放军军事科学院国防科技创新研究院 | Websocket communication protocol-based positioning data transceiving system and positioning method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130149991A1 (en) * | 2010-08-18 | 2013-06-13 | Sauli Hepo-Oja | Active positioning system |
| WO2018107907A1 (en) * | 2016-12-13 | 2018-06-21 | 天津理工大学 | Uwb positioning-based automobile storage site management system and management method therefor |
| CN108919825A (en) * | 2018-05-18 | 2018-11-30 | 国网山东省电力公司青岛供电公司 | The unmanned plane indoor locating system and method for having barrier avoiding function |
| CN110519841A (en) * | 2019-09-18 | 2019-11-29 | 京信通信系统（中国）有限公司 | Positioning system and method based on wisdom room point |
| CN110557720A (en) * | 2019-09-12 | 2019-12-10 | 南京工程学院 | Ultra-wideband indoor positioning system and blind-complementing positioning method based on dynamic reference label |
| CN110839203A (en) * | 2019-12-03 | 2020-02-25 | 锐捷网络股份有限公司 | Ultra-wideband-based label positioning method and device |
| CN112004188A (en) * | 2020-08-27 | 2020-11-27 | 北京航天拓扑高科技有限责任公司 | Information push system based on indoor positioning |
| WO2021077865A1 (en) * | 2019-10-21 | 2021-04-29 | 珠海格力电器股份有限公司 | Networking and positioning method, system and device, and storage medium |
| CN113115243A (en) * | 2021-03-24 | 2021-07-13 | 武汉天喻信息产业股份有限公司 | MQTT-based indoor positioning system |
-
2021
- 2021-12-01 CN CN202111456706.5A patent/CN114363799B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130149991A1 (en) * | 2010-08-18 | 2013-06-13 | Sauli Hepo-Oja | Active positioning system |
| WO2018107907A1 (en) * | 2016-12-13 | 2018-06-21 | 天津理工大学 | Uwb positioning-based automobile storage site management system and management method therefor |
| CN108919825A (en) * | 2018-05-18 | 2018-11-30 | 国网山东省电力公司青岛供电公司 | The unmanned plane indoor locating system and method for having barrier avoiding function |
| CN110557720A (en) * | 2019-09-12 | 2019-12-10 | 南京工程学院 | Ultra-wideband indoor positioning system and blind-complementing positioning method based on dynamic reference label |
| CN110519841A (en) * | 2019-09-18 | 2019-11-29 | 京信通信系统（中国）有限公司 | Positioning system and method based on wisdom room point |
| WO2021077865A1 (en) * | 2019-10-21 | 2021-04-29 | 珠海格力电器股份有限公司 | Networking and positioning method, system and device, and storage medium |
| CN110839203A (en) * | 2019-12-03 | 2020-02-25 | 锐捷网络股份有限公司 | Ultra-wideband-based label positioning method and device |
| CN112004188A (en) * | 2020-08-27 | 2020-11-27 | 北京航天拓扑高科技有限责任公司 | Information push system based on indoor positioning |
| CN113115243A (en) * | 2021-03-24 | 2021-07-13 | 武汉天喻信息产业股份有限公司 | MQTT-based indoor positioning system |
Non-Patent Citations (3)
| Title |
|---|
| 卞佳兴;朱荣;陈玄;: "基于改进双向测距-到达时间差定位算法的超宽带定位系统" * |
| 姜浩;: "UWB室内定位技术在火电厂安全管理中的应用设计" * |
| 曹宇;: "基于UWB的ROS机器人室内定位系统设计" * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114793230A (en) * | 2022-04-23 | 2022-07-26 | 中国人民解放军军事科学院国防科技创新研究院 | Websocket communication protocol-based positioning data transceiving system and positioning method |
| CN114793230B (en) * | 2022-04-23 | 2023-06-09 | 中国人民解放军军事科学院国防科技创新研究院 | Positioning data receiving and transmitting system and positioning method based on WebSocket communication protocol |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114363799B (en) | 2023-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP4055846A1 (en) | Method and apparatus for transmitting data in iot system, and gateway device and storage medium thereof | |
| CN108964994B (en) | Replacement method of intelligent household equipment | |
| CN110266794A (en) | Method for subscribing and system are acted on behalf of based on MQTT server | |
| CN105052209A (en) | Polling beacon | |
| CN104618163A (en) | Message queue based distributed machine room monitoring system and method | |
| JP2013519319A (en) | Method and apparatus for MBMS-based content transmission in machine type communication | |
| US9462549B2 (en) | Systems and methods for optimizing power consumption associated with processing group addressed messages | |
| CN105022276A (en) | Smart home system and data interaction method thereof | |
| CN111092908A (en) | Internet of vehicles monitoring system | |
| CN103095684A (en) | Method obtaining attention user aggregate information, device and system | |
| CN110703617A (en) | Intelligent home control system based on MQTT | |
| CN114363799A (en) | Unmanned aerial vehicle indoor positioning system capable of being started and stopped dynamically according to demands | |
| CN112600881A (en) | Method, device, server and storage medium for providing service of internet of things | |
| CN115065659B (en) | Intelligent shelf data acquisition and management system based on active identification | |
| CN105180367A (en) | Data transmitting method and system for air conditioner unit | |
| CN114978922A (en) | Dynamic topological data acquisition method | |
| CN101938383B (en) | On-line monitoring method and system of user account with multiple services as well as monitoring service system | |
| CN103338160B (en) | Based on optimization system and the optimization method of the polling service of buffer queue | |
| EP2897360B1 (en) | Method for getting a device online, address delivery method, peripheral unit and server | |
| CN102610078B (en) | Communication implementation method of intelligent power consumption system | |
| CN109286537B (en) | Board management system and management method for frame type multi-service board | |
| CN111935691A (en) | Wireless low-power-consumption configuration method and device | |
| CN202385116U (en) | Distributed operation and maintenance data acquisition device | |
| CN110798242B (en) | Circuit, multichannel device and multichannel short message sending method | |
| CN104683973A (en) | Method and system for automatic configuration management based on intelligent terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |