CN116736220A - UWB positioning system base station coordinate measurement method and system - Google Patents

UWB positioning system base station coordinate measurement method and system Download PDF

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Publication number
CN116736220A
CN116736220A CN202310568659.6A CN202310568659A CN116736220A CN 116736220 A CN116736220 A CN 116736220A CN 202310568659 A CN202310568659 A CN 202310568659A CN 116736220 A CN116736220 A CN 116736220A
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uwb
base station
uwb positioning
positioning tag
tag
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温景仁
唐健
范潇云
刘晖
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Wuhan University WHU
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Wuhan University WHU
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a method and a system for measuring base station coordinates of a UWB positioning system, wherein in the process of data acquisition, a method of stopping is used for acquiring laser radar SLAM/INS combined navigation system data and UWB positioning tag ranging data, a distance observation value set of a UWB positioning tag and a reference station in a static period is screened, the position of the UWB positioning tag in the static period and the distance observation value of the UWB positioning tag and the base station are acquired, the minimum square problem is constructed through the position of the UWB tag in the static period and the distance observation value of the UWB positioning tag and the base station, the UWB base station coordinates are solved, and the UWB base station coordinates in the SLAM system are converted into an absolute coordinate system. According to the invention, the influence of data asynchronous errors among the sensors is reduced by screening the data in the static period, the multipath errors, NLOS errors and other large errors of UWB signals are weakened, the UWB ranging precision is improved, and the coordinate system resolving precision of a UWB base station is improved.

Description

UWB positioning system base station coordinate measurement method and system
Technical Field
The invention relates to the technical field of UWB positioning base stations, in particular to a coordinate measuring method and system of a UWB positioning base station.
Background
Ultra Wide Band (UWB) is a short-distance and large-bandwidth wireless communication technology which is produced in the 90 th year of the 19 th century, and is widely applied to the indoor positioning field due to the advantages of low cost, low power consumption, high transmission speed, high multipath resolution, high system safety and the like. The basic positioning principle of UWB mainly comprises the steps of deploying a plurality of positioning base stations with known positions, measuring the distance between the UWB base stations and positioning labels with unknown positions, then calculating by using a positioning algorithm, and finally obtaining the positioning result of the UWB labels. Along with the large-scale commercial use of UWB positioning technology in indoor positioning scene, the quick deployment measurement of UWB basic station becomes a problem, because when UWB positioning system is deployed, need measure UWB basic station's position and input into the system in advance, generally can use total station, tape measure or laser range finder to carry out manual measurement and confirm UWB basic station's position coordinate, in practical application UWB basic station is numerous and the area of distribution is great, and manual measurement mode inefficiency and unable assurance degree of accuracy.
Disclosure of Invention
In order to overcome the defects of the existing UWB base station position coordinate measurement technology, the invention aims to provide a large-range UWB base station position coordinate rapid measurement method, and solves the problem of low efficiency of the traditional UWB base station position coordinate using surveying instruments such as total stations and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
a UWB positioning base station coordinate measuring method comprises the following steps:
step 1: according to the deployment requirement of UWB positioning base stations, deploying a plurality of UWB base stations in an indoor environment;
step 2: constructing an automatic coordinate calibration system of the UWB base station based on the laser radar SLAM/INS integrated navigation system and the UWB positioning tag, wherein the automatic coordinate calibration system of the UWB base station selects an acquisition path according to indoor environment information and the distribution of the UWB base station, and stops for a plurality of seconds at k different positions near each UWB base station and acquires laser radar SLAM/INS integrated navigation system data and UWB positioning tag ranging data;
step 3: performing pose resolving on the data acquired by the laser radar SLAM/INS integrated navigation system in the step 2 to acquire a track of discrete sampling time of the SLAM/INS integrated navigation system, linearly interpolating the track of the SLAM/INS integrated navigation system to acquire the track of the SLAM/INS integrated navigation system at the discrete sampling time corresponding to the UWB positioning tag, and then calculating the real track of each discrete sampling time of the UWB positioning tag through lever arm compensation;
step 4: screening out the position information of the static time period from the real track of the discrete sampling time of the UWB positioning tag in the step 3, finding out the position sequences and the distance observation value sequence sets corresponding to k UWB positioning tag static time periods in the observable time period of a certain UWB positioning base station, and respectively taking the average value of the position sequences and the distance observation value sequences in each static time period of the UWB positioning tag as the position and the UWB distance observation value of the UWB positioning tag in the static time period;
step 5: constructing a least square optimization target problem according to a set consisting of the positions of a plurality of UWB positioning tags and UWB distance observation values of a certain UWB base station observable time period in a UWB positioning tag static time period, and solving to obtain coordinates of the UWB base station;
step 6: acquiring the coordinate of the UWB base station under the absolute coordinate system according to the coordinate of the UWB base station obtained in the step 5;
step 7: and (4) repeating the steps 4-6 to solve the coordinate of each UWB base station under the absolute coordinate system.
Furthermore, the acquisition path of the UWB base station coordinate automatic calibration system in the step 2 adopts a stop-and-go method, and the acquisition path finally returns to the vicinity of the place where the acquisition path starts to start, wherein k is more than or equal to 4, and the rest time of each position is 5-10 seconds.
Further, in the step 3, a SLAM/INS integrated navigation system is adopted to calculate the carrier at discrete timeDiscrete track is wherein /> Representing t i The attitude and the position calculated by the SLAM/INS integrated navigation system at the moment;
obtaining corresponding tracks of UWB positioning tag discrete sampling moments through linear interpolation of SALM/INS integrated navigation solution tracks wherein /> And the gesture and the position of the sampling moment of the ith UWB positioning tag obtained by the track interpolation through the laser radar SLAM/INS combination system are represented.
Further, the position acquired by the laser radar SLAM/INS integrated navigation is compensated based on lever arm information between the UWB positioning tag and the laser radar SLAM/INS integrated navigation system to calculate the track of the UWB positioning tag at discrete moment wherein />The position of the ith sample time of the tag is located for UWB.
Further, in the step 4, in the UWB positioning tag trackPosition of found rest period +.> wherein />Position information representing an ith stationary period of the UWB positioning tag, including a plurality of positions within the ith stationary period;
for the mth UWB positioning base station uwb_m of all UWB positioning base stations, k rest periods and corresponding distance measurement observation sets of all observable UWB positioning base stations uwb_m in all rest periods of the UWB positioning tag are as follows:
wherein ,positions corresponding to the 1 st, 2 nd and … k th static time periods of the UWB positioning tag and the UWB base station UWB_m can be observed respectively, and the positions are +.> Representing the set of range observations within the quiet period of UWB base station UWB m observable by UWB positioning tags 1, 2, … k, respectively.
Further, for the kth observable quiet period of the UWB base station UWB m for the UWB positioning tag,the n UWB positioning tag rest position sequences involved are represented as:
kth observable rest time of UWB base station uwb_m of UWB positioning tagPosition of UWB locating tag within a segmentThe expression is as follows:
the kth observable value of the UWB positioning tag is the observed value of the distance between the UWB positioning tag and UWB base station UWB m during the quiet period of UWB base station UWB mThe expression is as follows:
thus for UWB base station uwb_m, UWB base station is observable by UWB positioning tags
UWB positioning tag position and corresponding set of range observations for the rest period of uwb_m:
further, constructing a least squares optimization problem according to the position of the rest period of the UWB tag and the corresponding distance observation value set, wherein the least squares optimization problem is constructed as follows:
wherein ,
a coordinate sequence corresponding to a quiet period of UWB base station UWB m may be observed for the UWB positioning tag,distance observation value, p, of UWB positioning tag and UWB base station UWB_m in rest period of UWB base station UWB_m can be observed by UWB positioning tag m And (x, y, z) is the coordinate of the UWB base station UWB_m under the coordinate system of the laser radar SLAM/INS integrated navigation system.
Further, in the step 6, four or more SLAM feature point clouds are selectedAnd the coordinates of its corresponding absolute coordinate systemSetting the coordinate transformation parameter to +.>Then there are:
solving the conversion parameters by the above formulaConverting the coordinate of the UWB base station under the laser radar SLAM/INS combined navigation system coordinate system into a coordinate system under an absolute coordinate system +.>
The invention also provides a coordinate measuring system of the UWB positioning system base station, which comprises:
the method comprises the steps that a laser radar SLAM/INS integrated navigation system and an UWB base station coordinate automatic calibration system constructed by a UWB positioning tag fix the laser radar, the INS and the UWB positioning tag on a mobile acquisition vehicle, measure lever arm information among the UWB, the laser radar and the INS, and acquire laser radar, INS and UWB positioning tag ranging data;
the positioning tag sampling moment track acquisition module is used for carrying out pose resolving on data acquired by the laser radar SLAM/INS integrated navigation system to acquire a discrete track of a discrete moment carrier, obtaining a corresponding pose of the UWB positioning tag discrete sampling moment based on the discrete track of the discrete moment carrier, and then calculating the pose of each UWB positioning tag sampling moment through lever arm compensation;
the static track and ranging data screening module is used for screening out the position information of a static period from the track of the UWB positioning tag sampling moment, finding out a position sequence and a distance observation value set corresponding to the UWB positioning tag in k static period of the UWB positioning tag, which can be observed by the UWB positioning tag, of each UWB base station, taking an average value as the position and the UWB distance observation value of the UWB positioning tag in the static period, wherein k is more than or equal to 4;
the coordinate solving module of the UWB base station is used for constructing a least square optimization problem according to the position of the UWB positioning tag and the UWB distance observation value set in the static time period to solve and obtain the coordinate of the UWB base station;
and the coordinate conversion module is used for acquiring the coordinate of the UWB base station under the absolute coordinate system from the coordinate of the UWB base station obtained by solving.
Further, fixing a laser radar, an INS and a UWB positioning tag on a mobile acquisition vehicle, measuring lever arm information among the UWB, the laser radar and the INS, and then connecting equipment to the same computer for data acquisition, wherein the acquired data comprise laser radar point cloud data which comprise time information; inertial navigation data comprising time information, triaxial acceleration and triaxial angular velocity; UWB tag ranging information, which contains distance information between the UWB tag and the base station and time information of each distance measurement. Further, fixing a laser radar, an INS and a UWB positioning tag on a mobile acquisition vehicle, measuring lever arm information among the UWB, the laser radar and the INS, and then connecting equipment to the same computer for data acquisition, wherein the acquired data comprise laser radar point cloud data which comprise time information; inertial navigation data comprising time information, triaxial acceleration and triaxial angular velocity; UWB tag ranging information, which contains distance information between the UWB tag and the base station and time information of each distance measurement.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the measurement of the base station coordinate system of the UWB positioning system and the mapping task of the SLAM/INS integrated navigation system are combined, so that the rapid base station coordinate measurement can be realized for the deployment of a large-scale UWB positioning system, two-dimensional codes or markers are not required to be distributed, the UWB base stations are not required to communicate with each other, the cost is reduced, the efficiency is improved, and the coordinate system of the UWB base station can be converted into an absolute coordinate system. The invention adopts a data acquisition mode of stopping and moving, can reduce the influence of data asynchronous errors among the sensors by screening data in a stationary period, weakens large errors such as multi-path errors, NLOS errors and the like of UWB signals, improves UWB ranging accuracy, and can improve the coordinate system resolving accuracy of UWB base stations.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 shows UWB base station layout positions and SLAM trajectories according to an embodiment of the invention, wherein circles represent stationary acquisition points.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the embodiments of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
In the description of the present invention, unless otherwise indicated, the term "coupled" is to be interpreted broadly and may be, for example, fixedly coupled, detachably coupled, or integrally coupled. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention will now be described in further detail with reference to the accompanying drawings and examples.
Example 1
Based on the defects in the background technology, the embodiment provides a coordinate measuring method of a UWB positioning system base station, positioning equipment adopted by the method comprises a UWB base station, a UWB positioning tag, a laser radar, an INS and a data acquisition computer for data acquisition, wherein the specific process comprises the following steps:
step 1, deploying UWB base stations, and deploying UWB positioning base stations at proper indoor positions according to deployment requirements of a UWB positioning system.
Step 2, data acquisition, namely fixedly mounting a laser radar, an INS and a UWB positioning expression on a data set acquisition vehicle, and measuring lever arm information of a UWB positioning label and an INS coordinate system, namely the position (t x ,t y ,t z ) SLAM solution also requires calibrating external parameters of the laser radar and INS. The device is connected to a computer for data acquisition, and the acquired data comprise laser radar point clouds (comprising time stamps), INS data (a triaxial accelerometer and a triaxial gyroscope) and UWB ranging information (ranging information from a UWB positioning tag to a UWB base station). According to the indoor environment and the layout positions of the UWB positioning base stations, a proper path is selected for data acquisition, the acquisition route needs to cover the positions of all UWB base stations, the acquisition route has SLAM loop-back conditions, and finally returns to the initial place as far as possible, so that loop-back constraint of SLAM is constructed, SLAM error accumulation is reduced, and the accuracy of SLAM track is improved. Meanwhile, the data acquisition adopts a stop-and-go method, in the process of data acquisition, k different positions (k is more than or equal to 4) near each UWB base station are stationary for 5-10 seconds, and in the subsequent data processing process, data in a stationary period can be fitted to weaken multipath errors, NLOS errors and the like, so that UWB ranging precision is improved, and on the other hand, the UW caused by data synchronization errors can be reducedAnd B, influence of the positioning result of the base station.
And 3, resolving the pose of the laser radar SLAM/INS integrated navigation system. The laser radar has high ranging precision, is not influenced by ambient illumination and the like, has rich geometric features IN the indoor environment generally, has good positioning and mapping effects of a laser radar SLAM/INS system under the condition of loop back, and calculates the discrete track of a carrier by adopting a common SLAM/IN integrated navigation method wherein /> Representing t i And the attitude and the position calculated by the SLAM/INS integrated navigation system at the moment. Since the sampling frequency of UWB is different from SLAM/INS resolving frequency, corresponding track +.A corresponding track +.of discrete sampling moment of UWB positioning tag is obtained by linear interpolation of SALM/INS resolving track> wherein The pose and position of the ith UWB positioning tag sampling moment obtained by interpolating the SLAM/INS combination system is shown. Then calculate the position of UWB positioning tag at discrete time by lever arm compensation +.>Only the position translating part of the lever arm needs to be considered.
And 4, screening UWB static track points and corresponding UWB ranging data. The stationary time period in the SLAM track can be found according to the difference value between the front epoch and the rear epoch in the SLAM track or INS data, namely, the time period can be determined in UWBBit label trackPosition of found rest period +.> wherein />The location information representing the i-th UWB positioning tag's quiet period includes a plurality of locations within the i-th quiet period. For each UWB base station, range observations are found from the quiet periods, both within the quiet period in which the UWB positioning tag can observe it and within the quiet period. Taking uwb_Anchor6 in fig. 1 as an example, UWB positioning tags can observe uwb_Anchor6 base stations at a plurality of rest points 13, 15, 16, 17, 18, 19, etc., and at each rest point, an average value of the plurality of observation values is taken as a distance observation value of the UWB positioning tag, so as to eliminate or weaken multipath, NLOS, etc. error effects of UWB signals, and therefore, there are a set of position and distance observation values corresponding to the rest period:
other UWB base stations may construct similar sets of position and range observations corresponding to stationary periods.
Step 5, constructing a least square optimization problem according to the position of the rest time period of the UWB tag and the corresponding distance observation value set, and knowing the coordinate sequence in the rest time period of the UWB positioning tag
The distance between the corresponding rest time UWB tag and the base station m is +.>The least squares optimization problem is constructed as:
the coordinate p of the UWB base station can be obtained by solving the optimization function m (x, y, z), all UWB base stations can construct a least squares optimization problem to solve UWB base station coordinates through a stationary period position coordinate system sequence and a corresponding UWB tag distance observation value set.
And 6, the coordinates of the UWB base station solved in the step are the coordinates under the SLAM/INS combined navigation system coordinate system, if the coordinates need to be converted into an absolute coordinate system, the coordinate system of the UWB base station can be further converted into the absolute coordinate system by selecting characteristic points of a known absolute coordinate system from a point cloud map generated by SLAM, solving conversion parameters between the absolute coordinate system and the SLAM coordinate system. Selecting four or more SLAM feature point cloudsAnd the coordinates of its corresponding absolute coordinate systemSetting the coordinate transformation parameter to +.>Then there are:
the conversion parameters can be solved by the above equationThe coordinate system of the UWB base station in SLAM coordinate system can be converted into the coordinate system in absolute coordinate system +.>
According to the method, an SLAM drawing task is combined with a base station rapid measurement of a UWB positioning system, a least square problem is built through an SLAM track resolving result and a UWB positioning tag distance observation value, base station coordinates of the UWB positioning system are rapidly solved, a stop-and-go mode is adopted in a data acquisition process, and the influence of multipath of UWB ranging signals and NLOS signal errors is reduced and weakened through calculation of average values. The method solves the problem of low calibration efficiency of mapping instruments such as total stations and the like used for UWB base station coordinates, does not need to communicate among UWB base stations, does not need to arrange special two-dimensional codes or identifiers, and saves cost. The method can realize quasi-real-time full-automatic processing, greatly improve efficiency in the rapid deployment measurement of the base station of the wide-range UWB positioning system, and timely complete the rapid measurement task of the UWB base station coordinates.
Example 2
The embodiment provides a coordinate measuring system of a base station of a UWB positioning system, which comprises the following components:
the method comprises the steps that a laser radar SLAM/INS integrated navigation system and an UWB base station coordinate automatic calibration system constructed by a UWB positioning tag fix the laser radar, the INS and the UWB positioning tag on a mobile acquisition vehicle, measure lever arm information among the UWB, the laser radar and the INS, and acquire laser radar, INS and UWB positioning tag ranging data;
the positioning tag sampling moment track acquisition module is used for carrying out pose resolving on data acquired by the laser radar SLAM/INS integrated navigation system to acquire a discrete track of a discrete moment carrier, obtaining a corresponding pose of the UWB positioning tag discrete sampling moment based on the discrete track of the discrete moment carrier, and then calculating the pose of each UWB positioning tag sampling moment through lever arm compensation;
the static track and ranging data screening module is used for screening out the position information of a static period from the track of the UWB positioning tag sampling moment, finding out a position sequence and a distance observation value set corresponding to the UWB positioning tag in k (k is more than or equal to 4) positioning tag static periods which can be observed by the UWB positioning tag by each UWB base station, and taking the average value as the position and UWB distance observation value of the UWB positioning tag in the static period;
the coordinate solving module of the UWB base station is used for constructing a least square optimization problem according to the position of the UWB positioning tag and the UWB distance observation value set in the static time period to solve and obtain the coordinate of the UWB base station;
and the coordinate conversion module is used for acquiring the coordinate of the UWB base station under the absolute coordinate system from the coordinate of the UWB base station obtained by solving.
The UWB base station coordinate automatic calibration system fixes a laser radar, an INS and a UWB positioning tag on a mobile acquisition vehicle, measures lever arm information among the UWB, the laser radar and the INS, then connects equipment to the same computer for data acquisition, and the acquired data comprise laser radar point cloud data which comprise time information; inertial navigation data comprising time information, triaxial acceleration and triaxial angular velocity; UWB tag ranging information, which contains distance information between the UWB tag and the base station and time information of each distance measurement.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the teachings of the present invention, which are intended to be included within the scope of the present invention.

Claims (10)

1. The UWB positioning base station coordinate measuring method is characterized by comprising the following steps:
step 1: according to the deployment requirement of UWB positioning base stations, deploying a plurality of UWB base stations in an indoor environment;
step 2: constructing an automatic coordinate calibration system of the UWB base station based on the laser radar SLAM/INS integrated navigation system and the UWB positioning tag, wherein the automatic coordinate calibration system of the UWB base station selects an acquisition path according to indoor environment information and the distribution of the UWB base station, and stops for a plurality of seconds at k different positions near each UWB base station and acquires laser radar SLAM/INS integrated navigation system data and UWB positioning tag ranging data;
step 3: performing pose resolving on the data acquired by the laser radar SLAM/INS integrated navigation system in the step 2 to acquire a track of discrete sampling time of the SLAM/INS integrated navigation system, linearly interpolating the track of the SLAM/INS integrated navigation system to acquire the track of the SLAM/INS integrated navigation system at the discrete sampling time corresponding to the UWB positioning tag, and then calculating the real track of each discrete sampling time of the UWB positioning tag through lever arm compensation;
step 4: screening out the position information of the static time period from the real track of the discrete sampling time of the UWB positioning tag in the step 3, finding out the position sequences and the distance observation value sequence sets corresponding to k UWB positioning tag static time periods in the observable time period of a certain UWB positioning base station, and respectively taking the average value of the position sequences and the distance observation value sequences in each static time period of the UWB positioning tag as the position and the UWB distance observation value of the UWB positioning tag in the static time period;
step 5: constructing a least square optimization target problem according to a set consisting of the positions of a plurality of UWB positioning tags and UWB distance observation values of a certain UWB base station observable time period in a UWB positioning tag static time period, and solving to obtain coordinates of the UWB base station;
step 6: acquiring the coordinate of the UWB base station under the absolute coordinate system according to the coordinate of the UWB base station obtained in the step 5;
step 7: and (4) repeating the steps 4-6 to solve the coordinate of each UWB base station under the absolute coordinate system.
2. The method for measuring the coordinates of the base station of the UWB positioning system according to claim 1, wherein the collecting path of the automatic calibration system of the coordinates of the UWB base station in the step 2 adopts a stop-and-go method, and the collecting path finally returns to the vicinity of the place where the collecting path starts to start, wherein k is more than or equal to 4, and the rest time of each position is 5-10 seconds.
3. The method for measuring the coordinates of a base station of a UWB positioning system according to claim 1, wherein in the step 3, a combined SLAM/INS navigation is adoptedThe system calculates the discrete track of the carrier at the discrete moment as wherein Representing t i The attitude and the position calculated by the SLAM/INS integrated navigation system at the moment;
obtaining corresponding tracks of UWB positioning tag discrete sampling moments through linear interpolation of SALM/INS integrated navigation solution tracks wherein /> And the gesture and the position of the sampling moment of the ith UWB positioning tag obtained by the track interpolation through the laser radar SLAM/INS combination system are represented.
4. The method for measuring the coordinates of a base station of a UWB positioning system according to claim 1, wherein the method is characterized in that the track of the UWB positioning tag at discrete time is calculated by compensating the position acquired by the laser radar SLAM/INS integrated navigation based on lever arm information between the UWB positioning tag and the laser radar SLAM/INS integrated navigation system wherein />The position of the ith sample time of the tag is located for UWB.
5. The method for measuring coordinates of a base station of a UWB positioning system according to claim 4, wherein in said step 4, the trajectory of the UWB positioning tag isPosition of found rest period +.> wherein />Position information representing an ith stationary period of the UWB positioning tag, including a plurality of positions within the ith stationary period;
for the mth UWB positioning base station uwb_m of all UWB positioning base stations, k rest periods and corresponding distance measurement observation sets of all observable UWB positioning base stations uwb_m in all rest periods of the UWB positioning tag are as follows:
wherein ,positions corresponding to the 1 st, 2 nd and … k th static time periods of the UWB positioning tag and the UWB base station UWB_m can be observed respectively, and the positions are +.> Representing the set of range observations within the quiet period of UWB base station UWB m observable by UWB positioning tags 1, 2, … k, respectively.
6. A U as claimed in claim 5A method for measuring the coordinates of a base station of a WB positioning system is characterized in that for the kth observable rest period of a UWB base station UWB_m of a UWB positioning tag,the n UWB positioning tag rest position sequences involved are represented as:
the kth observable UWB positioning tag of the UWB positioning tag is the position of the UWB positioning tag within the quiet period of UWB base station UWB mThe expression is as follows:
the kth observable value of the UWB positioning tag is the observed value of the distance between the UWB positioning tag and UWB base station UWB m during the quiet period of UWB base station UWB mThe expression is as follows:
thus for UWB base station UWB m, the UWB positioning tag can observe the UWB positioning tag position and its corresponding set of range observations for the quiet period of UWB base station UWB m:
7. the method for measuring coordinates of a base station of a UWB positioning system according to claim 6, wherein the least squares optimization problem is constructed according to the position of the rest period of the UWB tag and the corresponding distance observation value set, and the least squares optimization problem is constructed as follows:
wherein ,
a coordinate sequence corresponding to a quiet period of UWB base station UWB m may be observed for the UWB positioning tag,distance observation value, p, of UWB positioning tag and UWB base station UWB_m in rest period of UWB base station UWB_m can be observed by UWB positioning tag m And (x, y, z) is the coordinate of the UWB base station UWB_m under the coordinate system of the laser radar SLAM/INS integrated navigation system.
8. The method for measuring coordinates of a base station of a UWB positioning system according to claim 5, wherein in the step 6, four or more SLAM feature point clouds are selectedAnd the coordinates of its corresponding absolute coordinate system +.>Setting the coordinate transformation parameter to +.>Then there are:
solving the conversion parameters by the above formulaConverting the coordinate of the UWB base station under the laser radar SLAM/INS combined navigation system coordinate system into a coordinate system under an absolute coordinate system +.>
9. A UWB positioning system base station coordinate measurement system comprising:
the method comprises the steps that a laser radar SLAM/INS integrated navigation system and an UWB base station coordinate automatic calibration system constructed by a UWB positioning tag fix the laser radar, the INS and the UWB positioning tag on a mobile acquisition vehicle, measure lever arm information among the UWB, the laser radar and the INS, and acquire laser radar, INS and UWB positioning tag ranging data;
the positioning tag sampling moment track acquisition module is used for carrying out pose resolving on data acquired by the laser radar SLAM/INS integrated navigation system to acquire a discrete track of a discrete moment carrier, obtaining a corresponding pose of the UWB positioning tag discrete sampling moment based on the discrete track of the discrete moment carrier, and then calculating the pose of each UWB positioning tag sampling moment through lever arm compensation;
the static track and ranging data screening module is used for screening out the position information of a static period from the track of the UWB positioning tag sampling moment, finding out a position sequence and a distance observation value set corresponding to the UWB positioning tag in k static period of the UWB positioning tag, which can be observed by the UWB positioning tag, of each UWB base station, taking an average value as the position and the UWB distance observation value of the UWB positioning tag in the static period, wherein k is more than or equal to 4;
the coordinate solving module of the UWB base station is used for constructing a least square optimization problem according to the position of the UWB positioning tag and the UWB distance observation value set in the static time period to solve and obtain the coordinate of the UWB base station;
and the coordinate conversion module is used for acquiring the coordinate of the UWB base station under the absolute coordinate system from the coordinate of the UWB base station obtained by solving.
10. The system for measuring the coordinates of a base station of a UWB positioning system according to claim 9, wherein the laser radar, the INS, and the UWB positioning tag are fixed on a mobile acquisition vehicle, the lever arm information between the UWB, the laser radar, and the INS is measured, and then the device is connected to the same computer for data acquisition, wherein the acquired data includes laser radar point cloud data including time information; inertial navigation data comprising time information, triaxial acceleration and triaxial angular velocity; UWB tag ranging information, which contains distance information between the UWB tag and the base station and time information of each distance measurement.
CN202310568659.6A 2023-05-17 2023-05-17 UWB positioning system base station coordinate measurement method and system Pending CN116736220A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116939815A (en) * 2023-09-15 2023-10-24 常熟理工学院 UWB positioning base station selection method based on laser point cloud map
CN117590858A (en) * 2024-01-19 2024-02-23 潍坊现代农业山东省实验室 Greenhouse unmanned vehicle navigation method and greenhouse unmanned vehicle navigation system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116939815A (en) * 2023-09-15 2023-10-24 常熟理工学院 UWB positioning base station selection method based on laser point cloud map
CN116939815B (en) * 2023-09-15 2023-12-05 常熟理工学院 UWB positioning base station selection method based on laser point cloud map
CN117590858A (en) * 2024-01-19 2024-02-23 潍坊现代农业山东省实验室 Greenhouse unmanned vehicle navigation method and greenhouse unmanned vehicle navigation system
CN117590858B (en) * 2024-01-19 2024-04-16 潍坊现代农业山东省实验室 Greenhouse unmanned vehicle navigation method and greenhouse unmanned vehicle navigation system

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