CN115022805A - UWB base station calibration method, device, electronic device and medium - Google Patents
UWB base station calibration method, device, electronic device and medium Download PDFInfo
- Publication number
- CN115022805A CN115022805A CN202210805011.1A CN202210805011A CN115022805A CN 115022805 A CN115022805 A CN 115022805A CN 202210805011 A CN202210805011 A CN 202210805011A CN 115022805 A CN115022805 A CN 115022805A
- Authority
- CN
- China
- Prior art keywords
- ranging
- positioning
- base station
- target
- value
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
-
- 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
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the application provides a calibration method, a calibration device, electronic equipment and a medium of a UWB base station, wherein the method comprises the following steps: acquiring a plurality of ranging positioning frames of the UWB base station; determining a first target ranging and positioning frame from a plurality of ranging and positioning frames according to a preset ranging range and preset positioning point distribution characteristics; under the condition that the number of the first target ranging and positioning frames is larger than or equal to the preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames; and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value. Through the calibration scheme of the UWB base station provided by the embodiment, the final 3D coordinate of the UWB base station can be obtained through calculation based on a plurality of ranging positioning frames of the UWB base station, the calibration efficiency of the UWB base station is improved, and the labor cost is reduced.
Description
Technical Field
The present application relates to the field of wireless positioning technologies, and in particular, to a method and an apparatus for calibrating a UWB base station, an electronic device, and a medium.
Background
Existing Ultra Wide Band (UWB) positioning technologies include a Time Of Flight (TOF) positioning scheme, a Time Difference Of Arrival (TDOA) positioning scheme, an Angle Of Arrival (AOA) positioning scheme calculated based on a phase Difference, and the like, but it is required to know three-dimensional coordinates Of UWB base stations deployed in a scene.
The existing calibration scheme of the UWB base station coordinate can adopt a total station, a tape measure or a laser range finder to carry out manual measurement, and the base stations are calibrated one by manually operating related measuring equipment, so that the accuracy of the calibrated UWB base station coordinate is low and the labor intensity is high.
Disclosure of Invention
In order to solve the foregoing technical problems, embodiments of the present application provide a method and an apparatus for calibrating a UWB base station, an electronic device, and a medium.
In a first aspect, an embodiment of the present application provides a method for calibrating a UWB base station, where the method includes:
acquiring a plurality of ranging and positioning frames of a UWB base station, wherein each ranging and positioning frame comprises a ranging value and a map positioning value;
determining a first target ranging positioning frame from the ranging positioning frames according to a preset ranging range and distribution characteristics of preset positioning points;
judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number or not;
under the condition that the number of the first target ranging and positioning frames is greater than or equal to a preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames;
and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value.
In one embodiment, the step of obtaining a mean value of plane coordinates of the UWB base station according to the first target ranging and locating frame includes:
calculating a plurality of initial 3D coordinates of the UWB base station according to the first target ranging positioning frame;
and calculating the plane coordinate mean value of the UWB base station according to the plurality of initial 3D coordinates.
In an embodiment, the step of obtaining a final 3D coordinate of the UWB base station according to the plane coordinate mean, the minimum ranging value, and the target map location value includes:
calculating the height of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value;
and calculating the final 3D coordinate according to the plane coordinate mean value and the height.
In one embodiment, the step of obtaining the final 3D coordinates of the UWB base station according to the plane coordinate mean and the height includes:
generating a corrected 3D coordinate according to the plane coordinate mean value and the height;
respectively calculating the error distance between the corrected 3D coordinates and the map positioning value of each first target ranging positioning frame;
determining a target error distance which is less than or equal to a preset error threshold value from the plurality of error distances;
determining a second target ranging positioning frame corresponding to the target error distance from the first target ranging positioning frame, and performing coordinate calculation on the second target ranging positioning frame by adopting a triangulation positioning algorithm or a least square method to obtain a calibrated 3D coordinate of the UWB base station;
generating the final 3D coordinate according to the horizontal coordinate and the height of the calibration 3D coordinate.
In one embodiment, the step of determining a first target ranging location frame from a plurality of ranging location frames according to a preset ranging range and a preset location point distribution characteristic includes:
determining candidate ranging positioning frames with ranging values belonging to the preset ranging range from a plurality of ranging positioning frames;
and determining the first target ranging positioning frame from the candidate ranging positioning frames according to the preset locus distribution characteristics.
In one embodiment, the step of acquiring a plurality of ranging location frames of the UWB base station comprises:
the method comprises the steps that a plurality of UWB data frames are collected through UWB tags arranged by positioning equipment, wherein each UWB data frame comprises a distance measurement value between each UWB tag and a plurality of UWB base stations and a map positioning value of each UWB tag on a scene map when the UWB data frames are collected;
and generating a plurality of ranging positioning frames of each UWB base station according to the plurality of UWB data frames.
In one embodiment, the step of obtaining the scene map includes:
and constructing the scene map according to UWB scene data acquired by the sensor.
In a second aspect, an embodiment of the present application provides a calibration apparatus for a UWB base station, where the apparatus includes:
the system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring a plurality of ranging positioning frames of a UWB base station, and each ranging positioning frame comprises a ranging value and a map positioning value;
the determining module is used for determining a first target ranging positioning frame from the ranging positioning frames according to a preset ranging range and distribution characteristics of preset positioning points;
the judging module is used for judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number;
the second obtaining module is used for obtaining the plane coordinate mean value of the UWB base station according to the first target ranging positioning frame under the condition that the number of the first target ranging positioning frames is greater than or equal to the preset number;
and the third acquisition module is used for determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is used to store a computer program, and the computer program, when executed by the processor, executes the calibration method for the UWB base station provided in the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program runs on a processor, the computer program performs the calibration method for the UWB base station provided in the first aspect.
The method, the device, the electronic equipment and the medium for calibrating the UWB base station, provided by the application, are used for acquiring a plurality of ranging positioning frames of the UWB base station; determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics; judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number or not; under the condition that the number of the first target ranging and positioning frames is greater than or equal to a preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames; and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value. Through the calibration scheme of the UWB base station provided by the embodiment, the final 3D coordinate of the UWB base station can be obtained through calculation based on a plurality of ranging positioning frames of the UWB base station, the calibration efficiency of the UWB base station is improved, the labor cost is reduced, the calibrated base station coordinate system is the same as the scene map coordinate system, and subsequent fusion positioning is facilitated.
Drawings
In order to more clearly explain the technical solutions of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of protection of the present application. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a calibration method for a UWB base station according to an embodiment of the present application;
fig. 2 shows a schematic structural diagram of a calibration apparatus for a UWB base station according to an embodiment of the present application.
An icon: 200-a calibration device of a UWB base station; 201-a first acquisition module; 202-a determination module; 203-a judgment module; 204-a second obtaining module; 205-third acquisition module.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Example 1
The embodiment of the disclosure provides a calibration method of a UWB base station.
Specifically, referring to fig. 1, the calibration method for the UWB base station includes:
step S101, a plurality of ranging positioning frames of the UWB base station are obtained.
In this embodiment, each of the ranging positioning frames includes a ranging value and a map positioning value. Specifically, the ranging value of each ranging positioning frame is a ranging value between the UWB base station and the UWB tag, and the map positioning value of each ranging positioning frame is a positioning position of the UWB tag in the scene map when the ranging value is acquired by the UWB base station.
In one embodiment, the scene map is a map corresponding to a scene where the UWB base station is located, and may be constructed by using scene data acquired by a sensor. UWB base station location may then be based on the scene map.
In one embodiment, the step of obtaining the scene map includes:
and constructing the scene map according to UWB scene data acquired by the sensor.
Specifically, the sensor may include a single line lidar, a multi-line lidar, a monocular camera, a multi-view camera, a depth camera, and the like. The map format of the scene map can comprise a plane grid map format and a point cloud map format. The scene data collected by a common single-line laser radar can construct a plane grid map, and the scene data collected by a multi-line laser, RGBD and monocular and binocular cameras can construct a point cloud map.
In one embodiment, step S101 includes:
the method comprises the steps that a plurality of UWB data frames are collected through UWB tags arranged by positioning equipment, wherein each UWB data frame comprises a distance measurement value between each UWB tag and a plurality of UWB base stations and a map positioning value of each UWB tag on a scene map when the UWB data frames are collected;
and generating a plurality of ranging positioning frames of each UWB base station according to the plurality of UWB data frames.
It should be noted that, compared with the prior art that the UWB base station calibration can be realized only by manual operation, in this embodiment, the UWB tag is installed on the positioning device, and the positioning device carries the UWB tag to move in the UWB scene to acquire the UWB data frame, so that the labor intensity of the worker can be reduced, and the labor cost can be reduced. In this embodiment, the positioning device may be a complex mobile robot, and the positioning device may also be a simple positioning device composed of a handheld or backpack laser radar and a computing unit, which is not limited herein. The UWB tag may be mounted on a movable person, vehicle or robot, and the UWB base station may be mounted on a wall. The UWB tag performs wireless ranging or communication with a nearby UWB base station.
It can be understood that when the positioning device carries the UWB tag to move in the UWB scene, the positioning device can move according to a preset path, a plurality of ranging points are arranged on the preset path, when the corresponding ranging points are reached, the UWB tag collects ranging values between the UWB tag and several UWB base stations nearby the UWB tag, and collects map positioning values of the UWB tag in the scene map at the moment.
For example, the UWB tag has an a base station and a B base station near the current ranging point, collects the ranging values of the UWB tag and the a base station, collects the ranging values of the UWB tag and the B base station, collects the map location value of the UWB tag at this time, and generates the UWB data frame of the current ranging point from the ranging values of the UWB tag and the a base station, the ranging values of the UWB tag and the B base station, and the current map location value. When the UWB tag moves to a ranging point, the corresponding UWB data frame is repeatedly acquired, and a plurality of UWB data frames can be obtained. The UWB ranging result may be transmitted to the computing unit of the positioning device by means of a serial port line, a network cable, or a wireless connection.
In this embodiment, each UWB data frame includes the ranging value collected at the ranging point and each UWB base station nearby and the map location value of the ranging point in the scene map, for example, one UWB data frame includes the a base station ranging value L1, the B base station ranging value L2 and the map location value X, the a base station ranging value L1 and the map location value X are stored in the a base station node as a location ranging frame, and the B base station ranging value L2 and the map location value X are stored in the B base station node as a location ranging frame. And the other UWB data frame comprises an A base station ranging value L3, a C base station ranging value L4 and a map positioning value Y, the A base station ranging value L3 and the map positioning value X are used as a positioning ranging frame to be stored in the A base station node, the C base station ranging value L4 and the map positioning value Y are used as a positioning ranging frame to be stored in the C base station node, and the processing is repeated in the same way to obtain the positioning ranging frames of all the ranging points of each UWB base station.
It is supplementary to say that, the handheld or control positioning device moves in the scene, passes through the vicinity of each UWB base station, and a plurality of ranging points can be arranged in the vicinity of each UWB base station. Specifically, for each UWB base station, it is necessary to set a ranging point around each direction of each UWB base station as much as possible, and it is necessary to ensure that a short-distance range and a long-distance range near each UWB base station are set with ranging points. The distance between the UWB tag and the UWB base station has little influence on the UWB ranging precision, and the ranging point in the close range is favorable for improving the precision of the height calculation of the base station. To calibrate the planar position of a UWB base station, a UWB tag is required to perform ranging at 3 or more ranging points around the UWB base station. If 3 and more than 3 ranging points are all near the same position or are all near a line, the calculated UWB base station positioning accuracy is low or is completely wrong.
Due to the limitation of the scene, because the UWB base station is generally installed on the wall, the available data which may be collected is not much when the UWB base station on the wall is measured at a narrow position. Only the distance measuring points in the short-distance range are used, and the number of the distance measuring points is not enough or the distance measuring points are not well distributed and are all on the same line, so that the positioning precision is influenced. The distance measuring points in the long-distance range can be distributed more dispersedly, and the plane position calculation precision of the UWB base station can be ensured. In actual use, the short-distance range and the long-distance range need to be adjusted according to scenes. For example, in an office, 2 meters inside is generally close, and 5 meters outside is generally far. In a high-speed rail station, 4 meters inside are close and 20 meters outside are far.
It should be noted that, when acquiring UWB data, it is necessary to ensure that the height of the positioning device is lower than the installation height of any UWB base station set in the UWB scenario. Since the UWB base station is highly unknown, the UWB base station is generally installed at a high position. In the practical application process, when the UWB base station is installed too low, the wireless signal is easily sheltered by people or objects. The height difference between the UWB tag and the UWB base station can be calculated according to a back calculation UWB base station coordinate algorithm, and in order to avoid the situation that whether the UWB base station is higher than the tag or lower than the UWB tag is unknown, the UWB tag is uniformly arranged according to the condition that the height of the UWB tag is lower than that of the UWB base station.
It is added that the UWB tag can acquire a wireless signal of a nearby base station. According to the signal strength ranking, several base stations with the strongest signals are selected for ranging, and generally, the stronger signals are closer to each other. When the ranging values between the UWB tag and a plurality of nearby UWB base stations are acquired at the ranging point, the UWB tag can receive wireless signals of each UWB base station, information such as signal quality, signal strength and first path strength can be acquired according to the received wireless signals, the wireless signals of one or more corresponding UWB base stations can be estimated according to the acquired information, the quality is poor, the ranging of the shielded UWB base stations is estimated to be inaccurate, and the ranging values of the shielded UWB base stations need to be removed.
And S102, determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics.
In this embodiment, valid candidate ranging location frames may be screened from multiple ranging location frames of each UWB base station by presetting a ranging range. And selecting the ranging positioning frame meeting the distribution characteristics according to the preset position points from the candidate ranging positioning frames as a first target ranging positioning frame, so that the subsequent UWB positioning accuracy can be improved.
The same UWB base station may collect hundreds or thousands of ranging location frames corresponding to the ranging points, and dozens of ranging location frames are also obtained after the ranging location frames are screened according to time and distance. And the calculation positioning over 5 ranging positioning frames has little help to the positioning accuracy and has adverse effect to the positioning accuracy, so some ranging positioning frames collected by ranging points with little use need to be filtered. Considering that the installation height of the UWB base station is higher than that of the UWB tag, the antenna is generally vertically arranged, and the signal around the horizontal plane is better. The upper and lower ends are blind areas.
If the ranging value in the ranging positioning frame is smaller, the ranging point where the UWB tag is located in the antenna blind area range, and the ranging precision is lower. If the ranging value in the ranging positioning frame is larger, it indicates that there may be shielding between the UWB tag and the UWB base station, resulting in low accuracy. Therefore, by removing the ranging location frame outside the preset ranging range, the ranging location frame smaller than the preset minimum distance can be removed, and the ranging location frame larger than the preset maximum distance can be removed. The preset ranging range can be set correspondingly according to the actual application scenario, for example, the preset minimum distance can be 2 meters, the preset maximum distance can be 5 meters, the corresponding preset ranging range is (2 meters, 5 meters), and other ranging ranges can be provided, which is not limited herein.
Specifically, step S102 includes:
determining candidate ranging positioning frames with ranging values belonging to the preset ranging range from a plurality of ranging positioning frames;
and determining the first target ranging positioning frame from the candidate ranging positioning frames according to the preset locus distribution characteristics.
For example, if the predetermined minimum distance may be 2 meters and the predetermined maximum distance may be 5 meters, the ranging-positioning frames with the ranging value smaller than 2 meters are removed from the plurality of ranging-positioning frames, the ranging-positioning frames with the ranging value greater than 5 meters are removed, and the remaining ranging-positioning frames are used as candidate ranging-positioning frames. The ranging location frame F1 corresponding to the minimum ranging value is determined from the candidate ranging location frames. The range location frame F2 corresponding to the largest range value is determined from the candidate range location frames.
At least one first ranging value smaller than a preset intermediate threshold value is determined from the ranging values of the candidate ranging location frames, and the ranging location frame corresponding to the largest ranging value of the at least one first ranging value is determined as the ranging location frame F3. The preset intermediate threshold may be set to 2 meters or 3 meters, without limitation.
If the number of the first ranging values is two or more, a first distance between the ranging point corresponding to each first ranging value and the ranging point of the ranging and positioning frame F1 is calculated, and a second distance between the ranging point corresponding to each first ranging value and the ranging point of the ranging and positioning frame F3 is calculated, so that each first ranging value has a first distance and a second distance. And respectively calculating the sum of the first distance and the second distance of each first ranging value, determining a second ranging value corresponding to the maximum sum from each first ranging value, and determining the ranging positioning frame corresponding to the second ranging value as a ranging positioning frame F4.
The range-location frame F5 having the farthest distance from the range point of range-location frame F1 is looked up from the candidate range-location frames. The range-location frame F6 having the farthest distance from the range point of range-location frame F5 is looked up from the candidate range-location frames. The ranging location frame F7 having the farthest distance between the lines connecting the ranging point of the ranging location frame F5 and the ranging point of the ranging location frame F6 is searched for from among the candidate ranging location frames. And searching for the ranging positioning frame F8 with the largest distance and value among the ranging points of the ranging positioning frame F5, the ranging positioning frame F6 and the ranging positioning frame F7 from the candidate ranging positioning frames. And searching the ranging positioning frame F9 with the minimum distance and value among the ranging points of the ranging positioning frame F5, the ranging positioning frame F6 and the ranging positioning frame F7 from the candidate ranging positioning frames.
And judging whether the ranging and positioning frames F1-F9 are repeated or not, if so, removing the repeated ranging and positioning frames, and finally obtaining a first target ranging and positioning frame. The sequence of the finding range finding location frames F1-F9 can be adjusted, and is not limited herein. The above sequence of finding the ranging positioning frames F1-F9 is understood as an example of the preset location distribution feature, and the preset location distribution feature may be in other forms, which is not limited herein.
Therefore, the distance measurement positioning frame at the closer position is reserved in the screening and searching process based on the preset distance measurement range and the preset site distribution characteristics, and the height calculation accuracy of the base station is improved. The selected ranging positioning frames are dispersed around the UWB base station as much as possible, and the calculation precision of the plane position of the base station is improved.
Step S103, judging whether the number of the first target ranging positioning frames is larger than or equal to a preset number.
Specifically, when the number of the first target ranging and positioning frames is greater than or equal to the preset number, it indicates that the data acquisition of the UWB base station is effective, and step S104 is executed. When the number of the first target ranging positioning frames is smaller than the preset number, the data acquisition of the UWB base station is invalid, the data acquisition of the UWB base station needs to be repeated, and the coordinate calibration is carried out again.
It should be noted that the preset number is a custom number. For example, the predetermined number is 4. If the number of the first target ranging positioning frames is less than 4, it is indicated that the coordinate calculation device of the UWB base station should perform calibration calculation again after data is collected again by the UWB base station.
And step S104, under the condition that the number of the first target ranging and positioning frames is greater than or equal to the preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames.
In this embodiment, the first target ranging and positioning frame correspondingly includes a ranging value between the UWB base station and the UWB tag, and a map positioning value of the UWB tag in a scene map when the ranging value is acquired.
In an embodiment, the step of obtaining a plane coordinate mean of the UWB base station according to the first target ranging location frame in step S104 may include:
calculating a plurality of initial 3D coordinates of the UWB base station according to the first target ranging positioning frame;
and calculating the plane coordinate mean value of the UWB base station according to the plurality of initial 3D coordinates.
It should be noted that, if the ground of the UWB scene is flat and all the ranging points are at the same height, according to the triangulation method, every 3 first target ranging positioning frames are selected from the first target ranging positioning frames to correspondingly calculate the initial 3D coordinates of the UWB base station. If the ground of the scene is not flat, not all the ranging points are at a height, and a minimum two-layer method is used, the initial 3D coordinate of the UWB base station is obtained by calculation in every 4 first target ranging positioning frames in the first target ranging positioning frame selection. Based on the plurality of initial 3D coordinates obtained by calculation, calculating an average value of plane coordinates of all the initial 3D coordinates, that is, calculating a plane coordinate average value of the UWB base station based on the plurality of initial 3D coordinates. It should be noted that the 3d coordinate is { x, y, z } space coordinate, the plane coordinate is { x, y } therein, and z is height.
Specifically, the step of calculating the mean plane coordinate of the UWB base station based on a plurality of initial 3D coordinates includes:
firstly, calculating the plane coordinate mean value of the UWB base station based on all initial 3D coordinates, calculating the distance of all plane coordinates relative to the plane coordinate mean value, removing the plane coordinate with the largest distance, and then calculating the mean value of the rest plane coordinates again. The plane coordinate mean value can be calculated after the plane coordinate with the largest error is removed again, and iteration is carried out for multiple times as required to obtain the final plane coordinate mean value.
Specifically, if the plane coordinates are (X1, Y1) and the mean value of the plane coordinates is (X2, Y2), the distance d between the plane coordinates and the mean value of the plane coordinates is 1 Can be calculated according to the following equation 1:
equation 1:
and S105, determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value.
Specifically, when the number of the first target ranging and positioning frames is multiple, the target map positioning value of one ranging and positioning frame with the minimum ranging value is selected, and the height of the UWB base station is calculated according to the plane coordinate mean value, the minimum ranging value, and the target map positioning value corresponding to the minimum ranging value.
In one embodiment, step S106 may include:
calculating the height of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value;
and calculating the final 3D coordinate according to the plane coordinate mean value and the height.
Specifically, the height h of the UWB base station may be calculated according to equation 2 and equation 3.
If the plane coordinates of the target map location value are (X3, Y3) and the mean plane coordinates of the UWB base station is (X4, Y4), then the horizontal distance d between the plane coordinates of the target map location value and the mean plane coordinates of the UWB base station is 2 Can be calculated according to equation 2.
Equation 2:
equation 3:
where h denotes the height of the UWB base station, h 1 Height of UWB tag, Rmin represents minimum range value determined in first target range location frame, d 2 And the horizontal distance between the plane coordinate of the target map positioning value and the mean value of the plane coordinates of the UWB base station.
In one embodiment, the step of calculating the final 3D coordinate according to the plane coordinate mean and the height includes:
generating a corrected 3D coordinate according to the plane coordinate mean value and the height;
respectively calculating the error distance between the corrected 3D coordinates and the map positioning value of each first target ranging positioning frame;
determining a target error distance which is less than or equal to a preset error threshold value from a plurality of error distances;
determining a second target ranging and positioning frame corresponding to the target error distance from the first target ranging and positioning frame, and performing coordinate calculation on the second target ranging and positioning frame by adopting a triangulation positioning algorithm or a least square method to obtain a calibrated 3D coordinate of the UWB base station;
generating the final 3D coordinate according to the horizontal coordinate and the height of the calibration 3D coordinate.
Specifically, the first target ranging positioning frame participating in the UWB base station coordinate calculation is checked by the plane coordinate mean, and the first target ranging positioning frame may be, for example, the ranging positioning frames F1-F9 in the foregoing example. The specific verification process is as follows: generating a corrected 3D coordinate by the mean value of the plane coordinates and the height of the UWB base station, calculating an error distance between the corrected 3D coordinate and a map positioning value of the ranging positioning frames F1-F9, and removing the ranging positioning frames with the error distance exceeding a preset error threshold, wherein the preset error threshold can be selected to be 0.5 m.
For example, if the error distance of the ranging positioning frame F2 exceeds 0.5 m, the ranging positioning frame F2 is removed, the coordinates of the UWB base station are calculated using the remaining ranging positioning frames F1, F3-F9, and the calibrated 3D coordinates of the base station are recalculated using triangulation or least squares. And replacing the height value of the calibration 3D coordinate with the height of the UWB base station obtained through calculation to obtain a final 3D coordinate. The accuracy of the final 3D coordinates is higher because the base station height calculated from the minimum ranging value is more accurate than the height value in the 3D coordinates calculated together with each ranging value.
The calibration method of the UWB base station provided by this embodiment obtains a plurality of ranging positioning frames of the UWB base station; determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics; judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number or not; under the condition that the number of the first target ranging and positioning frames is greater than or equal to a preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames; and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value. Through the calibration scheme of the UWB base station provided by the embodiment, the final 3D coordinate of the UWB base station can be obtained through calculation based on a plurality of ranging positioning frames of the UWB base station, the calibration efficiency of the UWB base station is improved, the labor cost is reduced, the calibrated base station coordinate system is the same as the scene map coordinate system, and subsequent fusion positioning is facilitated.
Example 2
In addition, the embodiment of the disclosure provides a calibration device of a UWB base station.
Specifically, as shown in fig. 2, the calibration apparatus 200 of the UWB base station includes:
a first obtaining module 201, configured to obtain multiple ranging and positioning frames of a UWB base station, where each ranging and positioning frame includes a ranging value and a map positioning value;
a determining module 202, configured to determine a first target ranging positioning frame from the multiple ranging positioning frames according to a preset ranging range and a preset positioning point distribution characteristic;
a determining module 203, configured to determine whether the number of the first target ranging positioning frames is greater than or equal to a preset number;
a second obtaining module 204, configured to obtain a mean plane coordinate of the UWB base station according to the first target ranging and positioning frame when the number of the first target ranging and positioning frames is greater than or equal to a preset number;
a third obtaining module 205, configured to determine a target map location value corresponding to a minimum distance measurement value from the first target distance measurement location frame, and obtain a final 3D coordinate of the UWB base station according to the plane coordinate mean, the minimum distance measurement value, and the target map location value.
In an embodiment, the second obtaining module 204 is further configured to calculate a plurality of initial 3D coordinates of the UWB base station according to the first target ranging location frame;
and calculating the plane coordinate mean value of the UWB base station according to the plurality of initial 3D coordinates.
In an embodiment, the third obtaining module 205 is further configured to calculate a height of the UWB base station according to the plane coordinate mean, the minimum ranging value, and the target map location value;
and calculating the final 3D coordinate according to the plane coordinate mean value and the height.
In an embodiment, the third obtaining module 205 is further configured to generate a modified 3D coordinate according to the plane coordinate mean and the height;
respectively calculating the error distance between the corrected 3D coordinates and the map positioning value of each first target ranging positioning frame;
determining a target error distance which is less than or equal to a preset error threshold value from the plurality of error distances;
determining a second target ranging positioning frame corresponding to the target error distance from the first target ranging positioning frame, and performing coordinate calculation on the second target ranging positioning frame by adopting a triangulation positioning algorithm or a least square method to obtain a calibrated 3D coordinate of the UWB base station;
generating the final 3D coordinate according to the horizontal coordinate and the height of the calibration 3D coordinate.
In an embodiment, the determining module 202 is further configured to determine, from a plurality of the ranging location frames, a candidate ranging location frame whose ranging value belongs to the preset ranging range;
and determining the first target ranging positioning frame from the candidate ranging positioning frames according to the preset locus distribution characteristics.
In an embodiment, the first obtaining module 201 is further configured to collect a plurality of UWB data frames through a UWB tag set by a positioning device, where each UWB data frame includes a distance measurement value between the UWB tag and a plurality of UWB base stations, and a map positioning value of the UWB tag on a scene map when the UWB data frame is collected;
and generating a plurality of ranging positioning frames of each UWB base station according to the plurality of UWB data frames.
In an embodiment, the first obtaining module 201 is further configured to construct the scene map according to UWB scene data collected by a sensor.
The calibration apparatus 200 of the UWB base station provided in this embodiment can implement the calibration method of the UWB base station provided in embodiment 1, and for avoiding repetition, details are not described herein again.
The calibration device of the UWB base station provided in this embodiment acquires a plurality of ranging positioning frames of the UWB base station; determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics; judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number or not; under the condition that the number of the first target ranging and positioning frames is larger than or equal to a preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames; and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value. Through the calibration scheme of the UWB base station provided by the embodiment, the final 3D coordinate of the UWB base station can be obtained through calculation based on a plurality of ranging positioning frames of the UWB base station, the calibration efficiency of the UWB base station is improved, the labor cost is reduced, the calibrated base station coordinate system is the same as the scene map coordinate system, and subsequent fusion positioning is facilitated.
Example 3
Furthermore, an embodiment of the present disclosure provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the computer program, when running on the processor, executes the calibration method for the UWB base station provided in embodiment 1.
The electronic device provided in this embodiment may implement the method for calibrating a UWB base station provided in embodiment 1, and details are not described herein in order to avoid repetition.
Example 4
The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for calibrating a UWB base station provided in embodiment 1 is implemented.
In this embodiment, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The computer-readable storage medium provided in this embodiment may implement the method for calibrating a UWB base station provided in embodiment 1, and is not described herein again to avoid repetition.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A calibration method for a UWB base station, characterized in that the method comprises:
acquiring a plurality of ranging and positioning frames of a UWB base station, wherein each ranging and positioning frame comprises a ranging value and a map positioning value;
determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics;
judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number or not;
under the condition that the number of the first target ranging and positioning frames is greater than or equal to a preset number, acquiring a plane coordinate mean value of the UWB base station according to the first target ranging and positioning frames;
and determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame, and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value.
2. The method of claim 1, wherein said obtaining a mean of plane coordinates of said UWB base station from said first target ranging location frame comprises:
calculating a plurality of initial 3D coordinates of the UWB base station according to the first target ranging positioning frame;
and calculating the plane coordinate mean value of the UWB base station according to the plurality of initial 3D coordinates.
3. The method of claim 1, wherein obtaining the final 3D coordinates of the UWB base station according to the plane coordinate mean, the minimum ranging value, and the target map location value comprises:
calculating the height of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value;
and calculating the final 3D coordinate according to the plane coordinate mean value and the height.
4. The method of claim 3, wherein said obtaining the final 3D coordinates of the UWB base station according to the plane coordinate mean and the height comprises:
generating a corrected 3D coordinate according to the plane coordinate mean value and the height;
respectively calculating the error distance between the corrected 3D coordinates and the map positioning value of each first target ranging positioning frame;
determining a target error distance which is less than or equal to a preset error threshold value from a plurality of error distances;
determining a second target ranging positioning frame corresponding to the target error distance from the first target ranging positioning frame, and performing coordinate calculation on the second target ranging positioning frame by adopting a triangulation positioning algorithm or a least square method to obtain a calibrated 3D coordinate of the UWB base station;
generating the final 3D coordinate according to the horizontal coordinate and the height of the calibration 3D coordinate.
5. The method of claim 1, wherein determining a first target ranging location frame from a plurality of ranging location frames according to a predetermined ranging range and a predetermined anchor point distribution characteristic comprises:
determining candidate ranging positioning frames with ranging values belonging to the preset ranging range from a plurality of ranging positioning frames;
and determining the first target ranging positioning frame from the candidate ranging positioning frames according to the preset locus distribution characteristics.
6. The method of claim 1, wherein said obtaining a plurality of ranging location frames for a UWB base station comprises:
the method comprises the steps that a plurality of UWB data frames are collected through UWB tags arranged by positioning equipment, wherein each UWB data frame comprises a distance measurement value between each UWB tag and a plurality of UWB base stations and a map positioning value of each UWB tag on a scene map when the UWB data frames are collected;
and generating a plurality of ranging positioning frames of each UWB base station according to the plurality of UWB data frames.
7. The method for calibrating the UWB base station according to claim 6, wherein the obtaining of the scene map comprises:
and constructing the scene map according to UWB scene data acquired by the sensor.
8. An apparatus for calibrating a UWB base station, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring a plurality of ranging positioning frames of a UWB base station, and each ranging positioning frame comprises a ranging value and a map positioning value;
the determining module is used for determining a first target ranging positioning frame from the plurality of ranging positioning frames according to a preset ranging range and preset positioning point distribution characteristics;
the judging module is used for judging whether the number of the first target ranging positioning frames is greater than or equal to a preset number;
the second obtaining module is used for obtaining the plane coordinate mean value of the UWB base station according to the first target ranging positioning frame under the condition that the number of the first target ranging positioning frames is greater than or equal to the preset number;
and the third acquisition module is used for determining a target map positioning value corresponding to the minimum distance measurement value from the first target distance measurement positioning frame and acquiring the final 3D coordinate of the UWB base station according to the plane coordinate mean value, the minimum distance measurement value and the target map positioning value.
9. An electronic device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, performs the method of calibrating a UWB base station of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the method of calibration of a UWB base station of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210805011.1A CN115022805A (en) | 2022-07-08 | 2022-07-08 | UWB base station calibration method, device, electronic device and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210805011.1A CN115022805A (en) | 2022-07-08 | 2022-07-08 | UWB base station calibration method, device, electronic device and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115022805A true CN115022805A (en) | 2022-09-06 |
Family
ID=83082709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210805011.1A Pending CN115022805A (en) | 2022-07-08 | 2022-07-08 | UWB base station calibration method, device, electronic device and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115022805A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115685063A (en) * | 2022-11-01 | 2023-02-03 | 上海山源电子科技股份有限公司 | Ranging calibration method, ranging calibration device, electronic equipment and medium |
-
2022
- 2022-07-08 CN CN202210805011.1A patent/CN115022805A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115685063A (en) * | 2022-11-01 | 2023-02-03 | 上海山源电子科技股份有限公司 | Ranging calibration method, ranging calibration device, electronic equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9918297B2 (en) | Location measuring method and apparatus using access point for wireless local area network service and method for estimating location coordinate of access point | |
| US9316486B2 (en) | Method and apparatus for determining and storing the position and orientation of antenna structures | |
| KR101901039B1 (en) | Method and apparatus for cross device automatic calibration | |
| KR101785161B1 (en) | System and method for determining indoor position | |
| US9380472B2 (en) | Method and apparatus for updating access point information for location measurement | |
| CN111352069B (en) | Indoor positioning method, server, storage medium and program product | |
| US8947299B2 (en) | Location measuring method and apparatus using access point for wireless local area network service | |
| KR20190099271A (en) | Channel delay determination method, positioning method, and related apparatus | |
| CN108450060B (en) | Positioning method and device based on WI-FI access point | |
| KR101709411B1 (en) | Method for positioning based on weighted triangulation and method for indoor positioning using the same | |
| WO2020024597A1 (en) | Indoor positioning method and apparatus | |
| CN113115224B (en) | Indoor positioning method and indoor positioning device | |
| CN115022805A (en) | UWB base station calibration method, device, electronic device and medium | |
| US8812022B2 (en) | Method and apparatus for indoor location measurement | |
| KR101516769B1 (en) | Indoor wireless positioning system and indoor wireless positioning method | |
| KR101901407B1 (en) | Apparatus and method for determining location | |
| CN116669180A (en) | Interference positioning method and device, electronic equipment and storage medium | |
| CN115103439A (en) | Ultra-wideband visual auxiliary positioning method and device and storage medium | |
| CN115146745A (en) | Method, device and equipment for correcting point cloud data coordinate point positions and storage medium | |
| KR102302807B1 (en) | Method and apparatus for measuring location | |
| CN109842847B (en) | Method for distinguishing indoor user terminal from outdoor user terminal and base station | |
| KR102378614B1 (en) | Location measuring method and apparatus | |
| CN114553270B (en) | Antenna broadcast beam configuration method, device, electronic equipment and storage medium | |
| US20230421465A1 (en) | Systems and methods for integrated facility connectivity assessments | |
| JP6185804B2 (en) | Determination device, network node, determination method, and program |
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 |