CN114885276A - Dynamic positioning method, device and system based on UWB technology - Google Patents
Dynamic positioning method, device and system based on UWB technology Download PDFInfo
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- CN114885276A CN114885276A CN202210391458.9A CN202210391458A CN114885276A CN 114885276 A CN114885276 A CN 114885276A CN 202210391458 A CN202210391458 A CN 202210391458A CN 114885276 A CN114885276 A CN 114885276A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
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- 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
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Abstract
The invention relates to the technical field of positioning, and particularly discloses a dynamic positioning method based on a UWB technology, wherein the method comprises the following steps: acquiring first positioning information of a first UWB base station in a dynamic positioning area to a first UWB positioning tag; determining a reference coordinate system according to the first positioning information, and determining a first coordinate of the first UWB positioning tag on each movable object in the reference coordinate system; acquiring second positioning information of a second UWB positioning label to be positioned in the dynamic positioning area by a second UWB base station; establishing a corresponding observation coordinate system for each movable object, and determining a second coordinate of a second UWB positioning label to be positioned in the corresponding observation coordinate system according to second positioning information; the position of a second UWB positioning tag to be positioned in the reference coordinate system is obtained. The invention also discloses a dynamic positioning device and a dynamic positioning system based on the UWB technology. The dynamic positioning method based on the UWB technology can realize positioning in a complex environment.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a dynamic positioning method based on a UWB technology, a dynamic positioning device based on the UWB technology and a dynamic positioning system.
Background
In some areas needing safety supervision, such as a wharf area, a large number of workers exist during loading and unloading, requirements for safety of personnel are gradually increased, and the requirement for high-precision positioning is high in order to prevent the personnel from entering a dangerous area. The high-precision positioning can be well realized by using the UWB technology, the fixed position construction of a UWB positioning base station is needed in the traditional scheme, once the position of the base station is changed, the corresponding configuration needs to be changed, otherwise, the positioning is inaccurate, and the using effect is influenced.
However, in the wharf area, it is difficult to construct the wharf, and especially in some wharfs, goods are loaded and unloaded by moving a crane or a crane, and the wharf area is wide, there is basically no good fixed position to position the base station according to UWB, and the positioning of personnel and materials can be achieved by using other technologies while sacrificing the positioning accuracy.
Therefore, how to achieve positioning in a complex environment becomes a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention provides a dynamic positioning method based on a UWB technology, a dynamic positioning device based on the UWB technology and a dynamic positioning system, which solve the problem that people and the like cannot be positioned in a complex scene in the related technology.
As a first aspect of the present invention, there is provided a dynamic positioning method based on UWB technology, comprising:
acquiring first positioning information of a first UWB base station on a first UWB positioning tag in a dynamic positioning area, wherein a plurality of movable objects are arranged in the dynamic positioning area, a fixed track of each movable object is provided with the first UWB base station, and each movable object is provided with the first UWB positioning tag;
determining a reference coordinate system according to the first positioning information, and determining a first coordinate of a first UWB positioning tag on each movable object in the reference coordinate system;
acquiring second positioning information of a second UWB base station on a second UWB positioning label to be positioned in the dynamic positioning area, wherein the second UWB base station is installed on each movable object;
establishing a corresponding observation coordinate system for each movable object, and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
and obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
Further, determining a reference coordinate system according to the first positioning information, and determining first coordinates of a first UWB positioning tag on each of the movable objects in the reference coordinate system, comprises:
determining a reference coordinate system on a plane where a fixed track of the movable object is located according to the first positioning information;
and calculating a first coordinate of the movable object in the reference coordinate system in real time according to the first UWB positioning tag on each movable object.
Further, establishing a corresponding observation coordinate system for each movable object, and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information, including:
grouping a plurality of movable objects, wherein each group comprises one movable object, establishing a corresponding observation coordinate system for each movable object, and determining a coordinate origin of the observation coordinate system;
determining position coordinates of the second UWB base station in the observation coordinate system;
and calculating a second coordinate of a second UWB positioning label to be positioned in the observation coordinate system according to a positioning algorithm.
Further, obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation, including:
determining third coordinates of the first UWB positioning tag in the observation coordinate system;
calculating to obtain a fourth coordinate of the origin of coordinates of the observation coordinate system in the reference coordinate system according to the first coordinate and the third coordinate;
and calculating the position of a second UWB positioning label to be positioned in the reference coordinate system according to the fourth coordinate and the second coordinate.
Furthermore, the X axis and the Y axis of the reference coordinate system and the X axis and the Y axis of the observation coordinate system are in the same direction respectively.
Furthermore, two ends of a fixed track of each movable object are respectively provided with one first UWB base station, and four second UWB base stations are arranged at different positions of each movable object.
As another aspect of the present invention, there is provided a dynamic positioning apparatus based on UWB technology, for implementing the above dynamic positioning method based on UWB technology, wherein the dynamic positioning apparatus comprises:
the first UWB positioning system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring first positioning information of a first UWB base station to a first UWB positioning tag in a dynamic positioning area, a plurality of movable objects are arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of each movable object, and the first UWB positioning tag is installed on each movable object;
a determining module, configured to determine a reference coordinate system according to the first positioning information, and determine a first coordinate of a first UWB positioning tag on each of the movable objects in the reference coordinate system;
a second obtaining module, configured to obtain second positioning information of a second UWB base station on a second UWB positioning tag to be positioned in the dynamic positioning area, where the second UWB base station is installed on each movable object;
the establishing module is used for establishing a corresponding observation coordinate system for each movable object and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
and the position obtaining module is used for obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
As another aspect of the present invention, there is provided a dynamic positioning system, comprising: a first UWB base station, a second UWB base station, a first UWB positioning label, a second UWB positioning label and the dynamic positioning device based on UWB technology, wherein the first UWB base station, the second UWB base station, the first UWB positioning label and the second UWB positioning label are all positioned in the dynamic positioning area, at least one movable object is arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of the movable object, said second UWB base station and said first UWB positioning tag are both mounted on a movable object, the second UWB positioning tag is positioned on an object to be positioned, the first UWB base station and the second UWB base station are both in communication connection with the dynamic positioning device based on the UWB technology, the dynamic positioning device based on the UWB technology is used for positioning the target to be positioned according to the first UWB base station, the second UWB base station, the first UWB positioning tag and the second UWB positioning tag.
Further, the movable object comprises a crane or a hoist.
Furthermore, the first UWB base station and the second UWB base station are in communication connection with the dynamic positioning device based on UWB technology through wireless communication modules.
According to the dynamic positioning method based on the UWB technology, the UWB positioning tag and the UWB base station are arranged on the movable object, the UWB base station is arranged on the fixed track of the movable object, and positioning of a person to be positioned or a vehicle and the like in the dynamic positioning area is achieved by means of positioning of the UWB positioning tag, so that the position state of the person in the dynamic positioning area can be obtained in real time, and the safety of the person is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a dynamic positioning method based on UWB technology according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, a dynamic positioning method based on UWB technology is provided, and fig. 1 is a flowchart of the dynamic positioning method based on UWB technology according to an embodiment of the present invention, as shown in fig. 1, including:
s110, acquiring first positioning information of a first UWB base station to a first UWB positioning tag in a dynamic positioning area, wherein a plurality of movable objects are arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of each movable object, and the first UWB positioning tag is installed on each movable object;
in the embodiment of the present invention, the dynamic positioning area may be a dock area, or a large-scale factory, and the embodiment of the present invention specifically takes the dock area as an example for description.
In an embodiment of the invention, the movable object comprises a crane or a hoist. In the embodiment of the present invention, the movable object is taken as an example of a traveling crane.
It should be understood that a plurality of traveling cranes are distributed in a wharf area, a first UWB positioning tag is arranged on each traveling crane, and a first UWB base station is uniformly arranged on a fixed track of each traveling crane.
S120, determining a reference coordinate system according to the first positioning information, and determining a first coordinate of a first UWB positioning tag on each movable object in the reference coordinate system;
specifically, the method comprises the following steps:
determining a reference coordinate system on a plane where a fixed track of the movable object is located according to the first positioning information;
and calculating a first coordinate of the movable object in the reference coordinate system in real time according to the first UWB positioning tag on each movable object.
In the embodiment of the invention, the plane of the fixed track of the traveling crane is taken as the plane of the reference coordinate system, and is also the final display plane, which is marked as S 0 (ii) a Two first UWB base stations in the reference coordinate system are used as reference stations, and a first UWB positioning label on the travelling crane is used as a travelling crane observation label.
Because the first UWB positioning tag is arranged on the travelling crane, the travelling crane can be calculated in real time through the positioning of the first UWB base stationFirst coordinate (X) in a reference coordinate system 0 ，Y 0 )。
S130, second positioning information of a second UWB base station to a second UWB positioning tag to be positioned in the dynamic positioning area is obtained, wherein the second UWB base station is installed on each movable object;
in the embodiment of the invention, because the second UWB base station is arranged on the travelling crane, the position of the second UWB is continuously changed, in order to determine the position of the second UWB positioning label to be positioned, each travelling crane is independently grouped, each group comprises one travelling crane and is set as an observation coordinate system, which is marked as S n (n＝1,2,3…n)。
In the embodiment of the invention, in order to improve the positioning accuracy, two ends of the fixed track of each movable object are respectively provided with one first UWB base station, and four second UWB base stations are arranged at different positions of each movable object.
In the embodiment of the invention, the X axis and the Y axis of the reference coordinate system and the X axis and the Y axis of the observation coordinate system are respectively in the same direction.
S140, establishing a corresponding observation coordinate system for each movable object, and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
specifically, the method comprises the following steps: grouping a plurality of movable objects, wherein each group comprises one movable object, establishing a corresponding observation coordinate system for each movable object, and determining a coordinate origin of the observation coordinate system;
determining position coordinates of the second UWB base station in the observation coordinate system;
and calculating a second coordinate of a second UWB positioning label to be positioned in the observation coordinate system according to a positioning algorithm.
In the embodiment of the invention, after the traveling vehicles are grouped, the position of the second UWB positioning label to be positioned in the observation coordinate system is calculated by using the TOF or TDOA algorithm in the UWB technology, because the traveling vehicles are grouped, the calculation processing is carried out through the calculation engine, and the second UW to be positioned is calculatedThe B positioning label only possibly appears in one observation coordinate system, and the obtained second coordinate of the second UWB positioning label to be positioned in the observation coordinate system is recorded as (X) n ，Y n )。
S150, obtaining the position of the second UWB positioning label to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
Specifically, the method comprises the following steps: determining third coordinates of the first UWB positioning tag in the observation coordinate system;
calculating to obtain a fourth coordinate of the origin of coordinates of the observation coordinate system in the reference coordinate system according to the first coordinate and the third coordinate;
and calculating the position of a second UWB positioning label to be positioned in the reference coordinate system according to the fourth coordinate and the second coordinate.
In the embodiment of the invention, the third coordinate (a, b) of the first UWB positioning tag on the travelling crane in the observation coordinate series can be obtained through measurement, and the third coordinate (a, b) is combined with the first coordinate (X) 0 ，Y 0 ) The fourth coordinate (X) of the coordinate origin of the observation coordinate system in the reference coordinate system can be calculated 0 n ，Y 0 n ) Wherein X is 0 n ＝X 0 -a，Y 0 n ＝Y 0 -b。
According to the fourth coordinate of the coordinate origin of the observation coordinate system in the reference coordinate system, and combining the second coordinate, the position (X, Y) of the second UWB positioning tag to be positioned in the reference coordinate system can be calculated, wherein X ═ X n +X 0 n ＝X n +X 0 -a，Y＝Y n +Y 0 n ＝Y n +Y 0 -b。
To sum up, according to the dynamic positioning method based on the UWB technology provided by the embodiment of the present invention, the UWB positioning tag and the UWB base station are arranged on the movable object, the UWB base station is arranged on the fixed track of the movable object, and positioning of a person to be positioned or a vehicle and the like in the dynamic positioning area is realized by positioning the UWB positioning tag, so that the position state of the person in the dynamic positioning area can be obtained in real time, and the safety of the person is improved.
As another embodiment of the present invention, a dynamic positioning apparatus based on UWB technology is provided, which is used to implement the above dynamic positioning method based on UWB technology, and includes:
the first UWB positioning system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring first positioning information of a first UWB base station to a first UWB positioning tag in a dynamic positioning area, a plurality of movable objects are arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of each movable object, and the first UWB positioning tag is installed on each movable object;
a determining module, configured to determine a reference coordinate system according to the first positioning information, and determine a first coordinate of a first UWB positioning tag on each of the movable objects in the reference coordinate system;
a second obtaining module, configured to obtain second positioning information of a second UWB base station on a second UWB positioning tag to be positioned in the dynamic positioning area, where the second UWB base station is installed on each movable object;
the establishing module is used for establishing a corresponding observation coordinate system for each movable object and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
and the position obtaining module is used for obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
For the working principle of the dynamic positioning apparatus based on UWB technology provided in the embodiment of the present invention, reference may be made to the foregoing description of the dynamic positioning method based on UWB technology, and details are not described herein again.
As another embodiment of the present invention, there is provided a dynamic positioning system, including: a first UWB base station, a second UWB base station, a first UWB positioning label, a second UWB positioning label and the dynamic positioning device based on UWB technology, wherein the first UWB base station, the second UWB base station, the first UWB positioning label and the second UWB positioning label are all positioned in the dynamic positioning area, at least one movable object is arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of the movable object, said second UWB base station and said first UWB positioning tag are both mounted on a movable object, the second UWB positioning tag is positioned on an object to be positioned, the first UWB base station and the second UWB base station are both in communication connection with the dynamic positioning device based on the UWB technology, the dynamic positioning device based on the UWB technology is used for positioning the target to be positioned according to the first UWB base station, the second UWB base station, the first UWB positioning tag and the second UWB positioning tag.
In an embodiment of the invention, the movable object comprises a crane or a hoist.
Specifically, the first UWB base station and the second UWB base station are in communication connection with the UWB technology-based dynamic positioning device through wireless communication modules.
It should be noted that the dynamic positioning device based on the UWB technology may be deployed on a server, and display a position to be positioned in real time through a display screen.
In addition, the wireless communication module in the embodiment of the present invention may specifically be a high-power WIFI router, and is configured to receive and transmit positioning data of a UWB base station, and transmit the positioning data back to the dynamic positioning apparatus based on the UWB technology.
In the embodiment of the present invention, the target to be located may specifically be a person, or may also be a vehicle, and specifically may be set according to a requirement, which is not limited herein.
In summary, the dynamic positioning system provided by the embodiment of the invention can effectively improve the safety of personnel and vehicles, and can also meet the high-precision positioning requirement of personnel and vehicles in outdoor complex areas; the position conditions of the staff in the shift can be effectively counted and analyzed according to different application scenes, and the staff can be conveniently and quickly scheduled.
For the working principle of the dynamic positioning system of the present invention, reference may be made to the foregoing description of the dynamic positioning method based on UWB technology, and details thereof are not repeated here.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A dynamic positioning method based on UWB technology is characterized in that the method comprises the following steps:
acquiring first positioning information of a first UWB base station on a first UWB positioning tag in a dynamic positioning area, wherein a plurality of movable objects are arranged in the dynamic positioning area, a fixed track of each movable object is provided with the first UWB base station, and each movable object is provided with the first UWB positioning tag;
determining a reference coordinate system according to the first positioning information, and determining a first coordinate of a first UWB positioning tag on each movable object in the reference coordinate system;
acquiring second positioning information of a second UWB base station on a second UWB positioning label to be positioned in the dynamic positioning area, wherein the second UWB base station is installed on each movable object;
establishing a corresponding observation coordinate system for each movable object, and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
and obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
2. The dynamic positioning method based on UWB technology according to claim 1, wherein determining a reference coordinate system based on the first positioning information, and determining a first coordinate of a first UWB positioning tag on each of the movable objects in the reference coordinate system, comprises:
determining a reference coordinate system on a plane where a fixed track of the movable object is located according to the first positioning information;
and calculating a first coordinate of the movable object in the reference coordinate system in real time according to the first UWB positioning tag on each movable object.
3. The UWB technology-based dynamic positioning method according to claim 1, wherein a corresponding observation coordinate system is established for each movable object, and the second coordinates of the second UWB positioning tag to be positioned in the corresponding observation coordinate system are determined according to the second positioning information, and the method comprises:
grouping a plurality of movable objects, wherein each group comprises one movable object, establishing a corresponding observation coordinate system for each movable object, and determining a coordinate origin of the observation coordinate system;
determining position coordinates of the second UWB base station in the observation coordinate system;
and calculating a second coordinate of a second UWB positioning label to be positioned in the observation coordinate system according to a positioning algorithm.
4. The dynamic positioning method based on UWB technology according to claim 1, wherein obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation comprises:
determining third coordinates of the first UWB positioning tag in the observation coordinate system;
calculating to obtain a fourth coordinate of the origin of coordinates of the observation coordinate system in the reference coordinate system according to the first coordinate and the third coordinate;
and calculating the position of a second UWB positioning label to be positioned in the reference coordinate system according to the fourth coordinate and the second coordinate.
5. The UWB technology-based dynamic positioning method of any one of claims 1 to 4, wherein the X-axis and the Y-axis of the reference coordinate system and the X-axis and the Y-axis of the observation coordinate system are respectively in the same direction.
6. The dynamic positioning method based on UWB technology according to any one of claims 1-4, wherein one first UWB base station is installed at each of two ends of the fixed track of each movable object, and four second UWB base stations are installed at different positions of each movable object.
7. A dynamic positioning device based on UWB technology, for realizing the dynamic positioning method based on UWB technology of any claim from 1 to 6, characterized by that, including:
the first UWB positioning system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring first positioning information of a first UWB base station to a first UWB positioning tag in a dynamic positioning area, a plurality of movable objects are arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of each movable object, and the first UWB positioning tag is installed on each movable object;
the determining module is used for determining a reference coordinate system according to the first positioning information and determining a first coordinate of a first UWB positioning tag on each movable object in the reference coordinate system;
a second obtaining module, configured to obtain second positioning information of a second UWB base station on a second UWB positioning tag to be positioned in the dynamic positioning area, where the second UWB base station is installed on each movable object;
the establishing module is used for establishing a corresponding observation coordinate system for each movable object and determining a second coordinate of the second UWB positioning tag to be positioned in the corresponding observation coordinate system according to the second positioning information;
and the position obtaining module is used for obtaining the position of the second UWB positioning tag to be positioned in the reference coordinate system according to the first coordinate, the second coordinate and the coordinate system transformation.
8. A dynamic positioning system, comprising: a first UWB base station, a second UWB base station, a first UWB positioning tag, a second UWB positioning tag and the UWB technology-based dynamic positioning device of claim 7, wherein the first UWB base station, the second UWB base station, the first UWB positioning tag and the second UWB positioning tag are all located in a dynamic positioning area, at least one movable object is arranged in the dynamic positioning area, the first UWB base station is installed on a fixed track of the movable object, said second UWB base station and said first UWB positioning tag are both mounted on a movable object, the second UWB positioning tag is positioned on an object to be positioned, the first UWB base station and the second UWB base station are both in communication connection with the dynamic positioning device based on the UWB technology, the dynamic positioning device based on the UWB technology is used for positioning the target to be positioned according to the first UWB base station, the second UWB base station, the first UWB positioning tag and the second UWB positioning tag.
9. The dynamic positioning system of claim 8, wherein the movable object comprises a crane or a hoist.
10. The dynamic positioning system of claim 8, wherein the first UWB base station and the second UWB base station are communicatively connected to the dynamic positioning device based on UWB technology through a wireless communication module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115550841A (en) * | 2022-11-25 | 2022-12-30 | 深圳华云时空技术有限公司 | Direction-finding positioning device and direction-finding positioning method based on UWB |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115550841A (en) * | 2022-11-25 | 2022-12-30 | 深圳华云时空技术有限公司 | Direction-finding positioning device and direction-finding positioning method based on UWB |
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