WO2024145955A1 - Indoor positioning apparatus and method for narrow and long space - Google Patents

Indoor positioning apparatus and method for narrow and long space Download PDF

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Publication number
WO2024145955A1
WO2024145955A1 PCT/CN2023/071707 CN2023071707W WO2024145955A1 WO 2024145955 A1 WO2024145955 A1 WO 2024145955A1 CN 2023071707 W CN2023071707 W CN 2023071707W WO 2024145955 A1 WO2024145955 A1 WO 2024145955A1
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target object
narrow
module
long
positioning
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PCT/CN2023/071707
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French (fr)
Chinese (zh)
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WO2024145955A9 (en
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周宝定
胡超
杜彦良
李清泉
任伟新
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深圳大学
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • 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
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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

Definitions

  • a control module a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server;
  • a communication module used for communicating and transmitting the location information of the target object
  • a back-end server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system;
  • the present invention further provides an indoor positioning method for narrow and long spaces based on the indoor positioning device for narrow and long spaces as described above, and the indoor positioning method for narrow and long spaces comprises the following steps:
  • the back-end server receives the information transmitted by the communication module, completes the two-dimensional coordinate solution of the target object, and provides it to the target object management system.
  • a two-dimensional coordinate system is constructed in the narrow space, with the distance from the target object to the starting point as the long axis coordinate Y, the distance from the target object to the reference side as the short axis coordinate X, and the coordinate pair (X, Y) representing the real-time position of the target object.
  • TDOA positioning technology broadcasts ultra-wideband pulses to all UWB positioning base stations through the target object.
  • Each UWB positioning base station receives the information sent by the target object at different times, and determines the location of the target object through the time difference of the UWB positioning base station receiving the information;
  • the flight time difference between the target object's transmitted signal and the two UWB positioning base stations is measured, and the distance difference ⁇ d from the target object to the two UWB positioning base stations is calculated according to the electromagnetic wave transmission speed;
  • the real-time position of the target object is determined to be on the hyperbola L 1 with two UWB positioning base stations AP 1 (X 1 , Y 1 ) and AP 2 (X 2 , Y 2 ) as the focus;
  • L1 and L2 are represented by the following equations:
  • the high-precision timer inside the laser rangefinder in the TOF laser ranging module records the laser emission time T1 and the receiving time T2 , and calculates the distance D from the target object to both sides of the narrow space in combination with the laser flight speed c:
  • Two laser rangefinders are installed on both sides of the target object, with the transmitter perpendicular to the target object's forward direction, to obtain the distance from the target object to both sides in real time;
  • the real-time attitude of the target object is obtained through the attitude update algorithm of the strapdown inertial navigation, and the attitude of the laser rangefinder at a certain moment is obtained by solving the attitude update algorithm of the strapdown inertial navigation.
  • the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an indoor positioning program for narrow and long spaces, and when the indoor positioning program for narrow and long spaces is executed by a processor, the steps of the indoor positioning method for narrow and long spaces as described above are implemented.
  • the device comprises: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server;
  • the UWB positioning module is used to perform one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
  • the posture measurement module is used to detect the motion posture information of the target object; the TOF laser ranging ...
  • a module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and to correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
  • a control module is used to receive the measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module;
  • a communication module is used to communicate and transmit the position information of the target object;
  • a back-end server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system;
  • a power supply module is used to power the indoor positioning device facing the narrow and long space.
  • the present invention combines the narrow and long space indoor positioning device and method with ultra-wideband, TOF laser ranging and posture measurement modules.
  • the device only needs a small number of positioning base stations to achieve high-precision indoor two-dimensional positioning in the narrow and long space, greatly reducing the cost of the indoor positioning system.
  • FIG2 is a flow chart of a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention.
  • FIG. 3 is a schematic diagram of a two-dimensional coordinate system of a narrow and long space constructed in a preferred embodiment of the indoor positioning method for a narrow and long space of the present invention
  • FIG. 4 is a schematic diagram of the layout of multiple UWB positioning base stations in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention
  • FIG5 is a schematic diagram of time synchronization of multiple UWB positioning base stations in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention
  • FIG. 6 is a schematic diagram of UWB one-dimensional positioning in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention
  • FIG. 7 is a schematic diagram of the TOF laser ranging principle in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention.
  • FIG. 8 is a schematic diagram of target object posture correction in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention.
  • FIG9 is a three-dimensional spatial diagram of a laser beam in a preferred embodiment of the indoor positioning method for a narrow and long space of the present invention.
  • FIG. 10 is a schematic diagram of an operating environment of a preferred embodiment of a terminal of the present invention.
  • the indoor positioning device for narrow and long spaces described in the preferred embodiment of the present invention is shown in Figure 1.
  • the indoor positioning device for narrow and long spaces includes: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module.
  • the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server.
  • the UWB positioning module is used to perform one-dimensional positioning of the target object (the target object includes equipment and personnel) in the long axis direction based on the pre-deployed UWB positioning base station (UWB positioning requires the pre-deployment of UWB positioning base stations) to determine the position of the target object on the long axis.
  • the posture measurement module is used to detect the motion posture information of the target object.
  • the TOF laser ranging module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis.
  • control module is used to receive measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module.
  • the communication module is used to communicate and transmit the location information of the target object.
  • the backend server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system.
  • the attitude measurement module is composed of a gyroscope, an accelerometer and a magnetometer.
  • the TOF laser ranging module is composed of two laser rangefinders perpendicular to the moving direction of the target object (the laser rangefinder is installed to ensure that it is perpendicular to the moving direction of the target object, and the laser ranging value can be corrected to the distance to the vertical lines on both sides in combination with the motion posture information measured by the posture measurement module).
  • the indoor positioning method for narrow and long spaces described in the preferred embodiment of the present invention is shown in FIG2 , and the indoor positioning method for narrow and long spaces comprises the following steps:
  • Step S10 The UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
  • Step S20 the posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
  • the present invention uses UWB positioning technology to determine the long-axis position.
  • UWB positioning technology transmits ultra-wideband signals and determines the position of the target object by receiving and processing these signals.
  • each UWB positioning base station is connected to the central time synchronizer through a wire, and then connected to the back-end server to build a long-axis one-dimensional positioning system covering the entire narrow and long space; the long-axis one-dimensional coordinates are calculated as follows:
  • Y is the long axis coordinate of the target object
  • N is the number of UWB positioning base stations in front of the target object (previous means set in front of the target object)
  • S is the layout interval of the UWB positioning base station
  • d0 is the distance between the target object and the previous UWB positioning base station.
  • TDOA Time Difference of Arrival
  • TDOA positioning technology requires that all UWB positioning base station clocks are strictly synchronized.
  • TDOA positioning technology broadcasts ultra-wideband pulses to all UWB positioning base stations through the target object.
  • Each UWB positioning base station receives the information sent by the target object at different times.
  • the location of the target object can be determined by the time difference of the UWB positioning base station receiving the information. This method has the following characteristics:
  • One-dimensional positioning requires at least two UWB positioning base stations, and the coordinates of the UWB positioning base stations are known;
  • the time synchronization of UWB positioning base stations adopts wired synchronization, which can control the error within 0.1ns and has very high synchronization accuracy.
  • This synchronization method requires a central time synchronizer (i.e., the time synchronizer in Figure 5) to connect each UWB positioning base station (i.e., base station 1, base station 2, base station 3, base station N in Figure 5) through wires, as shown in Figure 5.
  • Two laser rangefinders are installed on both sides of the target object, with the transmitter perpendicular to the forward direction of the target object, to obtain the distance from the target object to both sides in real time; as shown in Figure 8, the target object will not move strictly parallel to the two sides of the narrow space, and there is a certain angle ⁇ between the forward direction and the direction of the narrow space, which makes the measurement value D of the laser rangefinder and the actual vertical distance d from the target object to both sides have an error.
  • the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device.
  • the memory 20 is used to store application software and various types of data installed in the terminal, such as the program code of the installation terminal.
  • the memory 20 may also be used to temporarily store data that has been output or is to be output.
  • the memory 20 stores an indoor positioning program 40 for narrow and long spaces, and the indoor positioning program 40 for narrow and long spaces can be executed by the processor 10, thereby realizing the indoor positioning method for narrow and long spaces in the present application.
  • the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the indoor positioning method for narrow and long spaces.
  • CPU central processing unit
  • microprocessor or other data processing chip

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Abstract

An indoor positioning apparatus and method for a narrow and long space. The apparatus comprises: a control module, a UWB positioning module, a pose measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the UWB positioning module is used for performing one-dimensional positioning on a target object in the direction of a long axis, so as to determine the position of the target object on the long axis; the pose measurement module is used for detecting motion pose information of the target object; the TOF laser ranging module is used for measuring distances from the target object to two sides of a short axis of a narrow and long space, and correcting a laser ranging value in view of the motion pose information, so as to acquire the position of the target object on the short axis; the control module is used for receiving measurement information regarding the target object; the communication module is used for performing communication transmission on position information; the back-end server is used for completing two-dimensional coordinate calculation on the target object; and the power supply module is used for supplying power to the entire apparatus.

Description

一种面向狭长空间的室内定位装置及方法Indoor positioning device and method for narrow and long spaces 技术领域Technical Field
本发明涉及计算机和位置服务技术领域，尤其涉及一种面向狭长空间的室内定位装置、方法、终端及计算机可读存储介质。The present invention relates to the technical field of computers and location services, and in particular to an indoor positioning device, method, terminal and computer-readable storage medium for narrow and long spaces.
背景技术Background technique
狭长空间是一种常见的室内场景，包括隧道(公路、铁路、地铁等)、引水洞、建筑长廊、矿井巷道、综合管廊等。其特点是长度尺寸远大于宽度且为封闭或半封闭空间，无法接收GNSS信号，该类空间范围内的移动对象定位是智能建造(例如，施工人员及装备定位)、基础设施安全运维(例如，巡检人员及装备定位)的关键技术之一。为保障狭长空间内作业人员的安全，以及设备的正常运行，提高其工作的效率，实现人员设备的实时定位是极其重要的。Long and narrow spaces are a common indoor scene, including tunnels (highways, railways, subways, etc.), diversion tunnels, building corridors, mine tunnels, integrated pipe corridors, etc. Its characteristics are that the length is much larger than the width and it is a closed or semi-closed space that cannot receive GNSS signals. The positioning of mobile objects in this type of space is one of the key technologies for intelligent construction (for example, the positioning of construction personnel and equipment) and infrastructure safety operation and maintenance (for example, the positioning of inspection personnel and equipment). In order to ensure the safety of workers in long and narrow spaces, the normal operation of equipment, and improve their work efficiency, it is extremely important to achieve real-time positioning of personnel and equipment.
狭长空间的室内定位多使用定位基站构成的无线传感器网络WSN(Wireless Sensor Networks)，通过测量用户到多个基站的距离或信号强度等信息实现人员定位。然而要实现狭长空间高精度室内定位，无线传感器网络WSN通常需要布设大量定位基站，来提高定位精度。大量布设基站一方面会产生较大的设备成本，另一方面，设备的安装维护也会带来额外的成本。因此，传统WSN方法实现狭长空间室内定位的成本较高，极大的限制了相关技术的推广应用。基于较少UWB基站布设，仅可实现一维定位，无法满足高精度定位需求。Indoor positioning in narrow and long spaces often uses wireless sensor networks WSN (Wireless Sensor Networks) composed of positioning base stations to locate people by measuring the distance from users to multiple base stations or signal strength and other information. However, to achieve high-precision indoor positioning in narrow and long spaces, wireless sensor networks WSN usually need to deploy a large number of positioning base stations to improve positioning accuracy. On the one hand, the deployment of a large number of base stations will incur large equipment costs, and on the other hand, the installation and maintenance of the equipment will also bring additional costs. Therefore, the cost of achieving indoor positioning in narrow and long spaces with traditional WSN methods is relatively high, which greatly limits the promotion and application of related technologies. Based on the deployment of fewer UWB base stations, only one-dimensional positioning can be achieved, which cannot meet the needs of high-precision positioning.
因此，现有技术还有待于改进和发展。Therefore, the prior art still needs to be improved and developed.
发明内容Summary of the invention
本发明的主要目的在于提供一种面向狭长空间的室内定位装置、方法、终端及计算机可读存储介质，旨在解决现有技术中在狭长空间进行室内定位时，基于较少UWB基站布设，仅可实现一维定位，无法满足高精度定位需求的问题。The main purpose of the present invention is to provide an indoor positioning device, method, terminal and computer-readable storage medium for narrow and long spaces, aiming to solve the problem in the prior art that when performing indoor positioning in narrow and long spaces, only one-dimensional positioning can be achieved based on the deployment of fewer UWB base stations, and the high-precision positioning requirements cannot be met.
为实现上述目的，本发明提供一种面向狭长空间的室内定位装置，所述面向狭长空间的室内定位装置包括：To achieve the above object, the present invention provides an indoor positioning device for narrow and long spaces, the indoor positioning device for narrow and long spaces comprising:
控制模块、UWB定位模块、姿态测量模块、TOF激光测距模块、通信模块、后端服务器和供电模块，所述控制模块分别与所述UWB定位模块、所述姿态测量模块、所述TOF激光测距模块、所述通信模块和所述供电模块连接，所述通信模块与所述后端服务器连接；A control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server;
UWB定位模块，用于基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；A UWB positioning module is used to perform one-dimensional positioning of a target object in the long axis direction based on a pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
姿态测量模块，用于检测所述目标对象的运动姿态信息；A posture measurement module, used to detect the motion posture information of the target object;
TOF激光测距模块，用于测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；A TOF laser ranging module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and to correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
控制模块，用于接收所述UWB定位模块、所述姿态测量模块和所述TOF激光测距模块发送的关于所述目标对象的测量信息；A control module, used to receive measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module;
通信模块，用于对所述目标对象的位置信息进行通讯传输；A communication module, used for communicating and transmitting the location information of the target object;
后端服务器，用于接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统；A back-end server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system;
供电模块，用于为所述面向狭长空间的室内定位装置供电。A power supply module is used to supply power to the indoor positioning device facing the narrow and long space.
所述的面向狭长空间的室内定位装置，其中，所述目标对象包括设备和人员。The indoor positioning device for narrow and long spaces, wherein the target objects include equipment and personnel.
所述的面向狭长空间的室内定位装置，其中，所述姿态测量模块由陀螺仪、加速度计和磁力计组成。The indoor positioning device for narrow and long spaces, wherein the posture measurement module is composed of a gyroscope, an accelerometer and a magnetometer.
所述的面向狭长空间的室内定位装置，其中，所述TOF激光测距模块由两个垂直于所述目标对象行进方向的激光测距仪组成。In the indoor positioning device for narrow and long spaces, the TOF laser ranging module is composed of two laser rangefinders perpendicular to the moving direction of the target object.
为实现上述目的，本发明还提供一种基于如上所述的面向狭长空间的室内定位装置的面向狭长空间的室内定位方法，所述面向狭长空间的室内定位方法包括如下步骤：To achieve the above object, the present invention further provides an indoor positioning method for narrow and long spaces based on the indoor positioning device for narrow and long spaces as described above, and the indoor positioning method for narrow and long spaces comprises the following steps:
所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；The UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
所述姿态测量模块检测所述目标对象的运动姿态信息，所述TOF激光测距模块测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；The posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
所述后端服务器接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统。The back-end server receives the information transmitted by the communication module, completes the two-dimensional coordinate solution of the target object, and provides it to the target object management system.
所述的面向狭长空间的室内定位方法，其中，所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置，之前还包括：The indoor positioning method for narrow and long spaces, wherein the UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis, further comprising:
构建狭长空间二维坐标系，以目标对象到起点的里程为长轴坐标Y，目标对象到基准侧的距离为短轴坐标X，以坐标对(X，Y)表示目标对象的实时位置。A two-dimensional coordinate system is constructed in the narrow space, with the distance from the target object to the starting point as the long axis coordinate Y, the distance from the target object to the reference side as the short axis coordinate X, and the coordinate pair (X, Y) representing the real-time position of the target object.
所述的面向狭长空间的室内定位方法，其中，所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置，具体包括：The indoor positioning method for narrow and long spaces, wherein the UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis, specifically includes:
多个UWB定位基站以狭长空间中线为基准，从一端每隔预设距离均匀布置；各UWB定位基站通过有线连接中央时间同步器，再与后端服务器连接，构建覆盖整个狭长空间的长轴一维定位系统；长轴一维坐标计算如下：Multiple UWB positioning base stations are evenly arranged at preset distances from one end based on the center line of the narrow and long space. Each UWB positioning base station is connected to the central time synchronizer through a wire, and then connected to the back-end server to build a long-axis one-dimensional positioning system covering the entire narrow and long space. The long-axis one-dimensional coordinates are calculated as follows:
Y＝(N-1)*S+d 0；(1) Y＝(N-1)*S+d 0 ；(1)
其中，Y为目标对象的长轴坐标，N为目标对象前置UWB定位基站个数，S为UWB定位基站布置间隔，d 0为目标对象距离前一个UWB定位基站的距离； Wherein, Y is the long axis coordinate of the target object, N is the number of UWB positioning base stations in front of the target object, S is the layout interval of the UWB positioning base station, and d0 is the distance between the target object and the previous UWB positioning base station;
TDOA定位技术通过目标对象向所有UWB定位基站广播超宽带脉冲，每个UWB定位基站在不同时刻接收到目标对象发送的信息，通过UWB定位基站接收信息的时间差，确定目标对象的位置；TDOA positioning technology broadcasts ultra-wideband pulses to all UWB positioning base stations through the target object. Each UWB positioning base station receives the information sent by the target object at different times, and determines the location of the target object through the time difference of the UWB positioning base station receiving the information;
基于TDOA定位技术测得目标对象发射信号到两个UWB定位基站的飞行时间差，根据电磁波传输速度解算目标对象到两个UWB定位基站的距离差Δd；Based on TDOA positioning technology, the flight time difference between the target object's transmitted signal and the two UWB positioning base stations is measured, and the distance difference Δd from the target object to the two UWB positioning base stations is calculated according to the electromagnetic wave transmission speed;
根据双曲线定义，确定目标对象实时位置在以两个UWB定位基站AP 1(X 1，Y 1)、AP 2(X 2，Y 2)为焦点的双曲线L 1上； According to the definition of the hyperbola, the real-time position of the target object is determined to be on the hyperbola L 1 with two UWB positioning base stations AP 1 (X 1 , Y 1 ) and AP 2 (X 2 , Y 2 ) as the focus;
若目标对象同时在AP 1、AP 2所在的直线L 2上，L 1、L 2由下列方程组表示： If the target object is on the line L2 where AP1 and AP2 are located at the same time, L1 and L2 are represented by the following equations:
Figure PCTCN2023071707-appb-000001
Figure PCTCN2023071707-appb-000001
解算方程组(2)，得到目标对象的两个模糊坐标P true(X true，Y true)、P false(X false，Y false)，根据目标对象到两个UWB定位基站的时间判断目标对象此时到两个UWB定位基站的距离的远近，以排除错误坐标P false，得到正确坐标P true； Solve equation group (2) to obtain two fuzzy coordinates P true (X true , Y true ) and P false (X false , Y false ) of the target object. According to the time when the target object arrives at the two UWB positioning base stations, determine the distance between the target object and the two UWB positioning base stations at this time, so as to eliminate the erroneous coordinate P false and obtain the correct coordinate P true ;
根据如下公式：According to the following formula:
Figure PCTCN2023071707-appb-000002
Figure PCTCN2023071707-appb-000002
计算目标对象到前一UWB定位基站AP 1的距离d 0，将d 0代入公式(1)得到目标对象此时在狭长空间二维坐标系中的长轴坐标Y。 Calculate the distance d 0 from the target object to the previous UWB positioning base station AP 1 , and substitute d 0 into formula (1) to obtain the long axis coordinate Y of the target object in the two-dimensional coordinate system of the narrow space at this time.
所述的面向狭长空间的室内定位方法，其中，所述姿态测量模块检测所述目标对象的运动姿态信息，所述TOF激光测距模块测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置，具体包括：The indoor positioning method for narrow and long spaces, wherein the posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis, specifically includes:
所述TOF激光测距模块中的激光测距仪内部的高精度计时器记录激光发射时间T 1和接收时间T 2，结合激光飞行速度c，计算目标对象到狭长空间的两侧的距离D： The high-precision timer inside the laser rangefinder in the TOF laser ranging module records the laser emission time T1 and the receiving time T2 , and calculates the distance D from the target object to both sides of the narrow space in combination with the laser flight speed c:
D=c*(T 2-T 1)；(4) D = c * (T 2 -T 1 ); (4)
将两个激光测距仪安装于目标对象两侧，发射器垂直于目标对象前进方向，实时获取目标对象到两侧的距离；Two laser rangefinders are installed on both sides of the target object, with the transmitter perpendicular to the target object's forward direction, to obtain the distance from the target object to both sides in real time;
目标对象前进方向与狭长空间方向存在一定的夹角α，使激光测距仪的测量值D与目标对象到两侧实际垂直距离d存在误差；There is a certain angle α between the target object's forward direction and the narrow space direction, which causes an error between the laser rangefinder's measured value D and the actual vertical distance d from the target object to both sides;
通过捷联惯导的姿态更新算法得到目标对象的实时姿态，解算得到出激光测 距仪在某一时刻的姿态，捷联惯导的姿态更新算法表示为：The real-time attitude of the target object is obtained through the attitude update algorithm of the strapdown inertial navigation, and the attitude of the laser rangefinder at a certain moment is obtained by solving the attitude update algorithm of the strapdown inertial navigation.
Figure PCTCN2023071707-appb-000003
Figure PCTCN2023071707-appb-000003
Figure PCTCN2023071707-appb-000004
Figure PCTCN2023071707-appb-000004
Figure PCTCN2023071707-appb-000005
Figure PCTCN2023071707-appb-000005
其中，n表示导航坐标系，b表示载体坐标系，k表示时刻，
Figure PCTCN2023071707-appb-000006
表示k时刻从载体坐标系旋转至导航坐标系的四元数，ο表示四元数乘法，Δθ k表示角速度增量，
Figure PCTCN2023071707-appb-000007
表示目标对象当前姿态的四元数，
Figure PCTCN2023071707-appb-000008
表示目标对象当前时刻的姿态矩阵； Where n represents the navigation coordinate system, b represents the carrier coordinate system, k represents the time,
Figure PCTCN2023071707-appb-000006
represents the quaternion rotated from the carrier coordinate system to the navigation coordinate system at time k, ο represents quaternion multiplication, Δθ k represents the angular velocity increment,
Figure PCTCN2023071707-appb-000007
A quaternion representing the current pose of the target object,
Figure PCTCN2023071707-appb-000008
Represents the posture matrix of the target object at the current moment;
对当前得到的姿态通过如下公式进行相应的转换：The current posture is converted accordingly using the following formula:
Figure PCTCN2023071707-appb-000009
Figure PCTCN2023071707-appb-000009
其中，
Figure PCTCN2023071707-appb-000010
表示目标对象相对于当前平面坐标系的姿态矩阵，
Figure PCTCN2023071707-appb-000011
表示最初始的平面坐标系到当前平面坐标系的变换矩阵； in,
Figure PCTCN2023071707-appb-000010
Represents the attitude matrix of the target object relative to the current plane coordinate system,
Figure PCTCN2023071707-appb-000011
Represents the transformation matrix from the initial plane coordinate system to the current plane coordinate system;
在三维空间中，将激光测距仪发射的光束表示为l向量，通过如下公式解算得到目标对象到狭长空间的两侧的距离：In three-dimensional space, the light beam emitted by the laser rangefinder is represented as the l vector, and the distance from the target object to both sides of the narrow space is calculated by the following formula:
Figure PCTCN2023071707-appb-000012
Figure PCTCN2023071707-appb-000012
其中，l表示激光光束到两侧的原始测距信息，θ表示目标对象的俯仰角，
Figure PCTCN2023071707-appb-000013
表示目标对象的航向角。 Where l represents the original distance information of the laser beam to both sides, θ represents the pitch angle of the target object,
Figure PCTCN2023071707-appb-000013
Indicates the heading angle of the target object.
此外，为实现上述目的，本发明还提供一种终端，其中，所述终端包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的面向狭长空间的室内定位程序，所述面向狭长空间的室内定位程序被所述处理器执行时实现如上所述的面向狭长空间的室内定位方法的步骤。In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and an indoor positioning program for narrow and long spaces stored in the memory and runnable on the processor, and when the indoor positioning program for narrow and long spaces is executed by the processor, the steps of the indoor positioning method for narrow and long spaces as described above are implemented.
此外，为实现上述目的，本发明还提供一种计算机可读存储介质，其中，所述计算机可读存储介质存储有面向狭长空间的室内定位程序，所述面向狭长空间的室内定位程序被处理器执行时实现如上所述的面向狭长空间的室内定位方法的步骤。In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an indoor positioning program for narrow and long spaces, and when the indoor positioning program for narrow and long spaces is executed by a processor, the steps of the indoor positioning method for narrow and long spaces as described above are implemented.
本发明中，所述装置包括：控制模块、UWB定位模块、姿态测量模块、TOF激光测距模块、通信模块、后端服务器和供电模块，所述控制模块分别与所述UWB定位模块、所述姿态测量模块、所述TOF激光测距模块、所述通信模块和所述供电模块连接，所述通信模块与所述后端服务器连接；UWB定位模块，用于基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；姿态测量模块，用于检测所述目标对象的运动姿态信息；TOF激光测距模块，用于测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；控制模块，用于接收所述UWB定位模块、所述姿态测量模块和所述TOF激光测距模块发送的关于所述目标对象的测量信息；通信模块，用于对所述目标对象的位置信息进行通讯传输；后端服务器，用于接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统；供电模块，用于为所述面向狭长空间的室内定位装置供电。本发明结合超宽带、TOF激光测距以及姿态测量模块的狭长空间室内定位装置及方法，该装置仅需少量定位基站，即可实现狭长空间高精度室内二维定位，大幅降低室内定位系统的成本。In the present invention, the device comprises: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server; the UWB positioning module is used to perform one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis; the posture measurement module is used to detect the motion posture information of the target object; the TOF laser ranging ... A module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and to correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis; a control module is used to receive the measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module; a communication module is used to communicate and transmit the position information of the target object; a back-end server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system; a power supply module is used to power the indoor positioning device facing the narrow and long space. The present invention combines the narrow and long space indoor positioning device and method with ultra-wideband, TOF laser ranging and posture measurement modules. The device only needs a small number of positioning base stations to achieve high-precision indoor two-dimensional positioning in the narrow and long space, greatly reducing the cost of the indoor positioning system.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明面向狭长空间的室内定位装置的较佳实施例的原理示意图；FIG1 is a schematic diagram showing the principle of a preferred embodiment of an indoor positioning device for narrow and long spaces according to the present invention;
图2是本发明面向狭长空间的室内定位方法的较佳实施例的流程图；FIG2 is a flow chart of a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图3是本发明面向狭长空间的室内定位方法的较佳实施例中构建的狭长空间二维坐标系的示意图；3 is a schematic diagram of a two-dimensional coordinate system of a narrow and long space constructed in a preferred embodiment of the indoor positioning method for a narrow and long space of the present invention;
图4是本发明面向狭长空间的室内定位方法的较佳实施例中多个UWB定位基站布设示意图；4 is a schematic diagram of the layout of multiple UWB positioning base stations in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图5是本发明面向狭长空间的室内定位方法的较佳实施例中多个UWB定位 基站时间同步的示意图；FIG5 is a schematic diagram of time synchronization of multiple UWB positioning base stations in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图6是本发明面向狭长空间的室内定位方法的较佳实施例中UWB一维定位原理图；6 is a schematic diagram of UWB one-dimensional positioning in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图7是本发明面向狭长空间的室内定位方法的较佳实施例中TOF激光测距原理示意图；7 is a schematic diagram of the TOF laser ranging principle in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图8是本发明面向狭长空间的室内定位方法的较佳实施例中目标对象姿态修正的示意图；8 is a schematic diagram of target object posture correction in a preferred embodiment of the indoor positioning method for narrow and long spaces of the present invention;
图9是本发明面向狭长空间的室内定位方法的较佳实施例中激光光束的三维空间图；FIG9 is a three-dimensional spatial diagram of a laser beam in a preferred embodiment of the indoor positioning method for a narrow and long space of the present invention;
图10为本发明终端的较佳实施例的运行环境示意图。FIG. 10 is a schematic diagram of an operating environment of a preferred embodiment of a terminal of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案及优点更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.
本发明较佳实施例所述的面向狭长空间的室内定位装置，如图1所示，所述面向狭长空间的室内定位装置包括：控制模块、UWB定位模块、姿态测量模块、TOF激光测距模块、通信模块、后端服务器和供电模块，所述控制模块分别与所述UWB定位模块、所述姿态测量模块、所述TOF激光测距模块、所述通信模块和所述供电模块连接，所述通信模块与所述后端服务器连接。The indoor positioning device for narrow and long spaces described in the preferred embodiment of the present invention is shown in Figure 1. The indoor positioning device for narrow and long spaces includes: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module. The control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server.
其中，UWB定位模块，用于基于预先布设的UWB定位基站(UWB定位需要预先布设UWB定位基站))对目标对象(所述目标对象包括设备和人员)在长轴方向进行一维定位，以确定所述目标对象在长轴的位置。Among them, the UWB positioning module is used to perform one-dimensional positioning of the target object (the target object includes equipment and personnel) in the long axis direction based on the pre-deployed UWB positioning base station (UWB positioning requires the pre-deployment of UWB positioning base stations) to determine the position of the target object on the long axis.
其中，姿态测量模块，用于检测所述目标对象的运动姿态信息。Wherein, the posture measurement module is used to detect the motion posture information of the target object.
其中，TOF激光测距模块，用于测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置。Among them, the TOF laser ranging module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis.
其中，控制模块，用于接收所述UWB定位模块、所述姿态测量模块和所述 TOF激光测距模块发送的关于所述目标对象的测量信息。Among them, the control module is used to receive measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module.
其中，通信模块，用于对所述目标对象的位置信息进行通讯传输。Wherein, the communication module is used to communicate and transmit the location information of the target object.
其中，后端服务器，用于接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统。The backend server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system.
其中，供电模块，用于为所述面向狭长空间的室内定位装置供电。Wherein, the power supply module is used to supply power to the indoor positioning device facing the narrow and long space.
具体地，所述姿态测量模块由陀螺仪、加速度计和磁力计组成。Specifically, the attitude measurement module is composed of a gyroscope, an accelerometer and a magnetometer.
具体地，所述TOF激光测距模块由两个垂直于所述目标对象行进方向的激光测距仪组成(激光测距仪安装的时候保证其垂直于目标对象前进方向，结合姿态测量模块测量的运动姿态信息可将激光测距值修正为到两侧垂线距离)。Specifically, the TOF laser ranging module is composed of two laser rangefinders perpendicular to the moving direction of the target object (the laser rangefinder is installed to ensure that it is perpendicular to the moving direction of the target object, and the laser ranging value can be corrected to the distance to the vertical lines on both sides in combination with the motion posture information measured by the posture measurement module).
针对狭长室内环境，首先采用UWB一维定位技术，确定目标对象在长轴的位置；同时利用TOF激光测距传感器测量目标对象到两侧的距离，结合姿态测量模块测量的目标对象运动姿态等信息修正激光测距值，以获取目标对象在短轴的位置；通过通信模块将上述传感器获取的数据传递给后端服务器，并在后端服务器上完成设备的二维坐标解算；结合UWB长轴测距及TOF短轴测距结果，实现在狭长空间的二维定位。仅需布设较少数目的UWB定位基站，即可实现高精度二维定位，大幅降低了定位服务的成本。For narrow and long indoor environments, UWB one-dimensional positioning technology is first used to determine the position of the target object on the long axis; at the same time, the TOF laser ranging sensor is used to measure the distance from the target object to both sides, and the laser ranging value is corrected in combination with the information such as the target object's motion posture measured by the posture measurement module to obtain the position of the target object on the short axis; the data obtained by the above sensors is transmitted to the back-end server through the communication module, and the two-dimensional coordinate solution of the device is completed on the back-end server; combined with the UWB long-axis ranging and TOF short-axis ranging results, two-dimensional positioning in narrow and long spaces is achieved. Only a small number of UWB positioning base stations need to be deployed to achieve high-precision two-dimensional positioning, which greatly reduces the cost of positioning services.
进一步地，基于所述面向狭长空间的室内定位装置，本发明较佳实施例所述的面向狭长空间的室内定位方法，如图2所示，所述面向狭长空间的室内定位方法包括以下步骤：Further, based on the indoor positioning device for narrow and long spaces, the indoor positioning method for narrow and long spaces described in the preferred embodiment of the present invention is shown in FIG2 , and the indoor positioning method for narrow and long spaces comprises the following steps:
步骤S10、所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；Step S10: The UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
步骤S20、所述姿态测量模块检测所述目标对象的运动姿态信息，所述TOF激光测距模块测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；Step S20, the posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
步骤S30、所述后端服务器接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统。Step S30: The backend server receives the information transmitted by the communication module, completes the two-dimensional coordinate solution of the target object, and provides it to the target object management system.
狭长空间如隧道、地铁等具有里程较长、形状弯曲等特点，常规平面直角坐标系无法直观表示人员或设备的位置，并且弯曲场景下，平面坐标不易通过测量 获取。因此本发明构建了一种简单、实用的狭长空间下二维坐标系。该坐标系能够直观表示人员或设备距离长轴起点的里程和到短轴基准测的距离，且易于测量。Long and narrow spaces such as tunnels and subways have the characteristics of long mileage and curved shapes. Conventional plane rectangular coordinate systems cannot intuitively represent the position of personnel or equipment, and in curved scenes, plane coordinates are not easy to obtain by measurement. Therefore, the present invention constructs a simple and practical two-dimensional coordinate system in long and narrow spaces. The coordinate system can intuitively represent the mileage of personnel or equipment from the starting point of the long axis and the distance to the short axis reference measurement, and is easy to measure.
具体地，如图3所示，构建狭长空间二维坐标系：以目标对象到起点的里程为长轴坐标Y，目标对象到基准侧的距离为短轴坐标X，以坐标对(X，Y)表示目标对象的实时位置，例如P 1(X 1，Y 1)、P 2(X 2，Y 1+Y 2)、P 3(X 3，Y 1+Y 2+Y 3)。 Specifically, as shown in Figure 3, a two-dimensional coordinate system in a long and narrow space is constructed: the mileage from the target object to the starting point is the major axis coordinate Y, the distance from the target object to the reference side is the minor axis coordinate X, and the real-time position of the target object is represented by a coordinate pair (X, Y), for example, P1 ( X1 , Y1 ), P2 ( X2 , Y1 + Y2 ), and P3 ( X3 , Y1 + Y2 + Y3 ).
长轴定位具有距离长、场景重复等特点，在隧道、引水洞等特殊场景下，还有照度低等挑战。常规视觉定位方法和指纹匹配定位难以达到室内高精度定位需求。本发明采用UWB定位技术来确定长轴位置，UWB定位技术通过发射超宽带信号，并通过接收和处理这些信号来确定目标物体的位置。Long-axis positioning has the characteristics of long distance and repeated scenes. In special scenes such as tunnels and water diversion tunnels, there are also challenges such as low illumination. Conventional visual positioning methods and fingerprint matching positioning are difficult to meet the requirements of indoor high-precision positioning. The present invention uses UWB positioning technology to determine the long-axis position. UWB positioning technology transmits ultra-wideband signals and determines the position of the target object by receiving and processing these signals.
UWB定位系统与传统的窄带系统相比，具有穿透力强、功耗低、抗多路径效果好、安全性高、系统复杂度低、能提供精确定位精度等优点。因此，UWB定位技术可以应用于室内静止或者移动物体以及人的定位跟踪与导航，且能提供十分精确的定位精度。Compared with traditional narrowband systems, UWB positioning systems have the advantages of strong penetration, low power consumption, good anti-multipath effect, high security, low system complexity, and the ability to provide precise positioning accuracy. Therefore, UWB positioning technology can be applied to the positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very precise positioning accuracy.
如图4所示，多个UWB定位基站以狭长空间中线为基准，从一端每隔预设距离(例如300米)均匀布置；各UWB定位基站通过有线连接中央时间同步器，再与后端服务器连接，构建覆盖整个狭长空间的长轴一维定位系统；长轴一维坐标计算如下：As shown in Figure 4, multiple UWB positioning base stations are evenly arranged at preset distances (e.g., 300 meters) from one end based on the center line of the narrow and long space; each UWB positioning base station is connected to the central time synchronizer through a wire, and then connected to the back-end server to build a long-axis one-dimensional positioning system covering the entire narrow and long space; the long-axis one-dimensional coordinates are calculated as follows:
Y＝(N-1)*S+d 0；(1) Y＝(N-1)*S+d 0 ；(1)
其中，Y为目标对象的长轴坐标，N为目标对象前置(前置的意思是设置在目标对象前面)UWB定位基站个数，S为UWB定位基站布置间隔，d 0为目标对象距离前一个UWB定位基站的距离。 Among them, Y is the long axis coordinate of the target object, N is the number of UWB positioning base stations in front of the target object (previous means set in front of the target object), S is the layout interval of the UWB positioning base station, and d0 is the distance between the target object and the previous UWB positioning base station.
TDOA(达到时间差测量法)定位技术要求所有UWB定位基站时钟严格同步，TDOA定位技术通过目标对象向所有UWB定位基站广播超宽带脉冲，每个UWB定位基站在不同时刻接收到目标对象发送的信息，可以通过UWB定位基 站接收信息的时间差，确定目标对象的位置。该方法有以下几个特点：TDOA (Time Difference of Arrival) positioning technology requires that all UWB positioning base station clocks are strictly synchronized. TDOA positioning technology broadcasts ultra-wideband pulses to all UWB positioning base stations through the target object. Each UWB positioning base station receives the information sent by the target object at different times. The location of the target object can be determined by the time difference of the UWB positioning base station receiving the information. This method has the following characteristics:
a)进行一维定位至少需要2个UWB定位基站，UWB定位基站坐标已知；a) One-dimensional positioning requires at least two UWB positioning base stations, and the coordinates of the UWB positioning base stations are known;
b)所有UWB定位基站之间需进行同步，目标对象无需与UWB定位基站之间进行同步；b) All UWB positioning base stations need to be synchronized, and the target object does not need to be synchronized with the UWB positioning base stations;
c)目标对象只发送信号，不进行接收，比较节省功耗。c) The target object only sends signals and does not receive them, which saves power consumption.
UWB定位基站时间同步采用有线同步的方式，有线时间同步可将误差控制在0.1ns以内，同步精度非常高。该同步方法需要一个中央时间同步器(即图5中的时间同步器)通过有线连接各个UWB定位基站(即图5中的基站1、基站2、基站3、、、基站N)，如图5所示。The time synchronization of UWB positioning base stations adopts wired synchronization, which can control the error within 0.1ns and has very high synchronization accuracy. This synchronization method requires a central time synchronizer (i.e., the time synchronizer in Figure 5) to connect each UWB positioning base station (i.e., base station 1, base station 2, base station 3, base station N in Figure 5) through wires, as shown in Figure 5.
在本发明中，长轴定位采用UWB定位技术，测距定位方法为达到时间差测量法(TDOA)，即通过到达时间的不同进行位置测量，原理如图6所示。基于TDOA定位技术测得目标对象发射信号到两个UWB定位基站的飞行时间差，根据电磁波传输速度解算目标对象到两个UWB定位基站的距离差Δd。In the present invention, long-axis positioning uses UWB positioning technology, and the ranging positioning method is the time difference of arrival measurement method (TDOA), that is, the position is measured by the difference in arrival time, and the principle is shown in Figure 6. Based on the TDOA positioning technology, the flight time difference of the target object transmitting the signal to the two UWB positioning base stations is measured, and the distance difference Δd from the target object to the two UWB positioning base stations is calculated according to the electromagnetic wave transmission speed.
根据双曲线定义，可以确定目标对象实时位置在以两个UWB定位基站AP 1(X 1，Y 1)、AP 2(X 2，Y 2)为焦点的双曲线L 1上。由于UWB只做一维定位，可以假定目标对象同时在AP 1、AP 2所在的直线L 2上，L 1、L 2由下列方程组表示： According to the definition of the hyperbola, the real-time position of the target object can be determined to be on the hyperbola L1 with two UWB positioning base stations AP1 ( X1 , Y1 ) and AP2 ( X2 , Y2 ) as the focus. Since UWB only performs one-dimensional positioning, it can be assumed that the target object is simultaneously on the straight line L2 where AP1 and AP2 are located. L1 and L2 are represented by the following equations:
Figure PCTCN2023071707-appb-000014
Figure PCTCN2023071707-appb-000014
解算方程组(2)，得到目标对象的两个模糊坐标P true(X true，Y true)、P false(X false，Y false)，根据目标对象到两个UWB定位基站的时间可以判断目标对象此时到两个UWB定位基站的距离的远近，以此排除错误坐标P false，得到正确坐标P true。 By solving equation group (2), we can obtain two fuzzy coordinates P true (X true , Y true ) and P false (X false , Y false ) of the target object. According to the time when the target object arrives at the two UWB positioning base stations, we can judge the distance between the target object and the two UWB positioning base stations at this time, so as to eliminate the erroneous coordinates P false and obtain the correct coordinates P true .
再根据如下公式：According to the following formula:
Figure PCTCN2023071707-appb-000015
Figure PCTCN2023071707-appb-000015
计算目标对象到前一UWB定位基站AP 1的距离d 0，将d 0代入公式(1)得到目标对象此时在狭长空间二维坐标系中的长轴坐标Y。 Calculate the distance d 0 from the target object to the previous UWB positioning base station AP 1 , and substitute d 0 into formula (1) to obtain the long axis coordinate Y of the target object in the two-dimensional coordinate system of the narrow space at this time.
TOF是利用电磁波飞行时间的测距方法，大量应用于激光雷达、深度相机等距离测量传感器上。TOF激光测距设备主要由发射器、接收器、高精度计时器组成。发射器发射出已调制的激光光束，光束到达观测物表面并反射回接收器，通过高精度计时器得到发射和接收激光的时间差和激光飞行速度计算距离。TOF is a distance measurement method that uses the time of flight of electromagnetic waves. It is widely used in distance measurement sensors such as laser radar and depth cameras. TOF laser ranging equipment is mainly composed of a transmitter, a receiver, and a high-precision timer. The transmitter emits a modulated laser beam, which reaches the surface of the object and is reflected back to the receiver. The high-precision timer obtains the time difference between the emission and reception of the laser and the laser flight speed to calculate the distance.
TOF激光雷达的原理图如图7所示，所述TOF激光测距模块中的激光测距仪内部的高精度计时器记录激光发射时间T 1和接收时间T 2，结合激光飞行速度c，计算目标对象到狭长空间的两侧(即图7中的障碍物)的距离D： The principle diagram of TOF laser radar is shown in FIG7 . The high-precision timer inside the laser rangefinder in the TOF laser ranging module records the laser emission time T1 and the receiving time T2 , and calculates the distance D from the target object to both sides of the narrow space (i.e., the obstacle in FIG7 ) in combination with the laser flight speed c:
D＝c*(T 2-T 1)；(4) D = c*(T 2 -T 1 ); (4)
将两个激光测距仪安装于目标对象两侧，发射器垂直于目标对象前进方向，实时获取目标对象到两侧的距离；如图8所示，目标对象不会严格平行于狭长空间两侧方向前进，前进方向与狭长空间方向存在一定的夹角α，使激光测距仪的测量值D与目标对象到两侧实际垂直距离d存在误差。Two laser rangefinders are installed on both sides of the target object, with the transmitter perpendicular to the forward direction of the target object, to obtain the distance from the target object to both sides in real time; as shown in Figure 8, the target object will not move strictly parallel to the two sides of the narrow space, and there is a certain angle α between the forward direction and the direction of the narrow space, which makes the measurement value D of the laser rangefinder and the actual vertical distance d from the target object to both sides have an error.
由于激光测距仪固定在目标对象两侧，可以认为激光测距仪的姿态与设备的姿态保持一致，而目标对象搭载姿态测量模块，可通过捷联惯导的姿态更新算法可以得到目标对象的实时姿态，进而可以解算得到出激光测距仪在某一时刻的姿态，捷联惯导的姿态更新算法表示为：Since the laser rangefinder is fixed on both sides of the target object, it can be considered that the attitude of the laser rangefinder is consistent with the attitude of the device. The target object is equipped with an attitude measurement module. The real-time attitude of the target object can be obtained through the attitude update algorithm of the strapdown inertial navigation, and then the attitude of the laser rangefinder at a certain moment can be calculated. The attitude update algorithm of the strapdown inertial navigation is expressed as:
Figure PCTCN2023071707-appb-000016
Figure PCTCN2023071707-appb-000016
Figure PCTCN2023071707-appb-000017
Figure PCTCN2023071707-appb-000017
Figure PCTCN2023071707-appb-000018
Figure PCTCN2023071707-appb-000018
其中，n表示导航坐标系，b表示载体坐标系，k表示时刻，
Figure PCTCN2023071707-appb-000019
表示k时刻从载体坐标系旋转至导航坐标系的四元数，ο表示四元数乘法，Δθ k表示角速度增量，
Figure PCTCN2023071707-appb-000020
表示目标对象当前姿态的四元数，
Figure PCTCN2023071707-appb-000021
表示目标对象当前时刻的姿态矩阵。 Where n represents the navigation coordinate system, b represents the carrier coordinate system, k represents the time,
Figure PCTCN2023071707-appb-000019
represents the quaternion rotated from the carrier coordinate system to the navigation coordinate system at time k, ο represents quaternion multiplication, Δθ k represents the angular velocity increment,
Figure PCTCN2023071707-appb-000020
A quaternion representing the current pose of the target object,
Figure PCTCN2023071707-appb-000021
Represents the pose matrix of the target object at the current moment.
通过捷联惯导的姿态更新算法得到的姿态是相对于最初始的平面坐标系，由于后续对短轴的位置解算需要用到相对于当前平面坐标系的设备姿态，对当前得到的姿态通过如下公式进行相应的转换：The attitude obtained by the strapdown inertial navigation attitude update algorithm is relative to the initial plane coordinate system. Since the subsequent short axis position solution requires the device attitude relative to the current plane coordinate system, the current attitude is converted accordingly using the following formula:
Figure PCTCN2023071707-appb-000022
Figure PCTCN2023071707-appb-000022
其中，
Figure PCTCN2023071707-appb-000023
表示目标对象相对于当前平面坐标系的姿态矩阵，
Figure PCTCN2023071707-appb-000024
表示最初始的平面坐标系到当前平面坐标系的变换矩阵。 in,
Figure PCTCN2023071707-appb-000023
Represents the attitude matrix of the target object relative to the current plane coordinate system,
Figure PCTCN2023071707-appb-000024
Represents the transformation matrix from the initial plane coordinate system to the current plane coordinate system.
如图9所示，在三维空间中，可将激光测距仪发射的光束表示为l向量，利用上述计算所求的姿态角，通过如下公式解算得到目标对象到狭长空间的两侧的距离：As shown in FIG9 , in three-dimensional space, the light beam emitted by the laser rangefinder can be represented as a vector l. Using the attitude angle calculated above, the distance from the target object to both sides of the narrow space can be calculated using the following formula:
Figure PCTCN2023071707-appb-000025
Figure PCTCN2023071707-appb-000025
其中，l表示激光光束到两侧的原始测距信息，θ表示目标对象的俯仰角，
Figure PCTCN2023071707-appb-000026
表示目标对象的航向角。 Where l represents the original distance information of the laser beam to both sides, θ represents the pitch angle of the target object,
Figure PCTCN2023071707-appb-000026
Indicates the heading angle of the target object.
本发明提供了一种集成UWB、TOF激光测距和姿态测量模块的室内定位装置，该装置由供电模块、控制模块、UWB定位模块、TOF激光测距模块、姿态测量模块、通信模块以及后端服务器组成。结合狭长空间特点和定位需求，该装置充分运用UWB、TOF激光测距和姿态测量模块的功能，解决了狭长空间的二维定位需求，同时降低了仅用UWB定位的高额定位成本。The present invention provides an indoor positioning device integrating UWB, TOF laser ranging and attitude measurement modules, which is composed of a power supply module, a control module, a UWB positioning module, a TOF laser ranging module, an attitude measurement module, a communication module and a back-end server. Combining the characteristics of narrow and long spaces and positioning requirements, the device fully utilizes the functions of UWB, TOF laser ranging and attitude measurement modules to solve the two-dimensional positioning requirements of narrow and long spaces, while reducing the high positioning cost of only using UWB positioning.
同时，本发明提出了一种融合UWB、TOF激光测距和惯导设备的狭长空间二维定位方法，该方法结合狭长空间定位需求，将二维定位分解为长轴和短轴的一维定位，定位结果能直观表示被测物体在狭长空间的具体位置。在该定位方法下，长轴定位采用UWB定位技术测量长轴坐标，短轴定位采用TOF激光测距和姿态测量模块测量短轴坐标。由于UWB采用一维定位方式，只需测距值，不 需要解算二维坐标，因此，实现了仅用少量UWB定位基站，实现了狭长空间二维高精度室内定位，大幅降低了定位服务的成本。At the same time, the present invention proposes a two-dimensional positioning method for narrow and long spaces that integrates UWB, TOF laser ranging and inertial navigation equipment. This method combines the positioning needs of narrow and long spaces and decomposes the two-dimensional positioning into one-dimensional positioning of the long axis and the short axis. The positioning result can intuitively represent the specific position of the measured object in the narrow and long space. Under this positioning method, the long axis positioning uses UWB positioning technology to measure the long axis coordinates, and the short axis positioning uses TOF laser ranging and attitude measurement modules to measure the short axis coordinates. Since UWB uses a one-dimensional positioning method, only the distance measurement value is required, and there is no need to solve the two-dimensional coordinates. Therefore, only a small number of UWB positioning base stations are used to achieve two-dimensional high-precision indoor positioning in narrow and long spaces, which greatly reduces the cost of positioning services.
另外，长轴定位技术不局限于UWB定位技术，可以采用蓝牙、WIFI等射频定位技术。面向不同的需求，可灵活更换相应的技术，如定位精度需要较低的情况下，可采用其他更合适的射频定位技术。In addition, long-axis positioning technology is not limited to UWB positioning technology, and can use radio frequency positioning technologies such as Bluetooth and WIFI. In response to different needs, the corresponding technology can be flexibly replaced. For example, when the positioning accuracy needs to be lower, other more suitable radio frequency positioning technologies can be used.
另外，射频测距定位方法不局限于TDOA测距定位方法，还可以采用达到时间测量法(TOA)、基于接收信号强度测量法(RSSI)等。以TOA为例，无线信号的传播速度是一定的，根据节点发送信号到接收节点时传播时间的长短可以确定节点间的距离。根据设备或人员到不同基站的距离，通过距离交会法，确定设备或人员的位置，如下所示：In addition, the RF ranging positioning method is not limited to the TDOA ranging positioning method, and can also use the arrival time measurement method (TOA), the received signal strength measurement method (RSSI), etc. Taking TOA as an example, the propagation speed of the wireless signal is certain, and the distance between nodes can be determined according to the propagation time when the node sends the signal to the receiving node. According to the distance from the device or person to different base stations, the distance intersection method is used to determine the location of the device or person, as shown below:
(x 1-x 0) 2+(y 1-y 0) 2＝d 1 2； (x 1 −x 0 ) 2 +(y 1 −y 0 ) 2 =d 1 2 ;
(x 2-x 0) 2+(y 2-y 0) 2＝d 2 2； (x 2 −x 0 ) 2 +(y 2 −y 0 ) 2 =d 2 2 ;
……………………
(x n-x 0) 2+(y n-y 0) 2＝d n 2； ( xn - x0 ) 2+ ( yn - y0 ) 2 = dn2 ;
其中，(x 1、y 1)、(x 2、y 2)……(x n、y n)为信号基站已知坐标，(x 0、y 0)为设备或人员待测坐标，d 1、d 2……d n为设备或人员到各基站的距离。 Among them, ( x1 , y1 ), ( x2 , y2 ), ... ( xn , yn ) are the known coordinates of the signal base station, ( x0 , y0 ) are the coordinates of the device or person to be measured, and d1 , d2 , ... dn are the distances from the device or person to each base station.
进一步地，如图10所示，基于上述面向狭长空间的室内定位方法和系统，本发明还相应提供了一种终端，所述终端包括处理器10、存储器20及显示器30。图10仅示出了终端的部分组件，但是应理解的是，并不要求实施所有示出的组件，可以替代的实施更多或者更少的组件。Further, as shown in Fig. 10, based on the above-mentioned indoor positioning method and system for narrow and long spaces, the present invention also provides a terminal, which includes a processor 10, a memory 20 and a display 30. Fig. 10 only shows some components of the terminal, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead.
所述存储器20在一些实施例中可以是所述终端的内部存储单元，例如终端的硬盘或内存。所述存储器20在另一些实施例中也可以是所述终端的外部存储设备，例如所述终端上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述存储器20还可以既包括所述终端的内部存储单元也包括外部存储设备。所述存储 器20用于存储安装于所述终端的应用软件及各类数据，例如所述安装终端的程序代码等。所述存储器20还可以用于暂时地存储已经输出或者将要输出的数据。在一实施例中，存储器20上存储有面向狭长空间的室内定位程序40，该面向狭长空间的室内定位程序40可被处理器10所执行，从而实现本申请中面向狭长空间的室内定位方法。In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory of the terminal. In other embodiments, the memory 20 may also be an external storage device of the terminal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal. Further, the memory 20 may also include both an internal storage unit of the terminal and an external storage device. The memory 20 is used to store application software and various types of data installed in the terminal, such as the program code of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 stores an indoor positioning program 40 for narrow and long spaces, and the indoor positioning program 40 for narrow and long spaces can be executed by the processor 10, thereby realizing the indoor positioning method for narrow and long spaces in the present application.
所述处理器10在一些实施例中可以是一中央处理器(Central Processing Unit,CPU)，微处理器或其他数据处理芯片，用于运行所述存储器20中存储的程序代码或处理数据，例如执行所述面向狭长空间的室内定位方法等。In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 20, such as executing the indoor positioning method for narrow and long spaces.
所述显示器30在一些实施例中可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED(Organic Light-Emitting Diode，有机发光二极管)触摸器等。所述显示器30用于显示在所述终端的信息以及用于显示可视化的用户界面。所述终端的部件10-30通过系统总线相互通信。In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.
在一实施例中，当处理器10执行所述存储器20中面向狭长空间的室内定位程序40时实现如上所述面向狭长空间的室内定位方法的步骤。In one embodiment, when the processor 10 executes the indoor positioning program 40 for narrow and long spaces in the memory 20 , the steps of the indoor positioning method for narrow and long spaces as described above are implemented.
本发明还提供一种计算机可读存储介质，其中，所述计算机可读存储介质存储有面向狭长空间的室内定位程序，所述面向狭长空间的室内定位程序被处理器执行时实现如上所述的面向狭长空间的室内定位方法的步骤。The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an indoor positioning program for narrow and long spaces, and when the indoor positioning program for narrow and long spaces is executed by a processor, the steps of the indoor positioning method for narrow and long spaces as described above are implemented.
综上所述，本发明提供一种面向狭长空间的室内定位装置、方法、终端及计算机可读存储介质，所述装置包括：控制模块、UWB定位模块、姿态测量模块、TOF激光测距模块、通信模块、后端服务器和供电模块，所述控制模块分别与所述UWB定位模块、所述姿态测量模块、所述TOF激光测距模块、所述通信模块和所述供电模块连接，所述通信模块与所述后端服务器连接；UWB定位模块，用于基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；姿态测量模块，用于检测所述目标对象的运动姿态信息；TOF激光测距模块，用于测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；控制模块，用于接收所述UWB定位模块、所述姿态测量模块和所述TOF激光测距模块发送的关于所述目标对象的测量信息；通信模块，用于对所 述目标对象的位置信息进行通讯传输；后端服务器，用于接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统；供电模块，用于为所述面向狭长空间的室内定位装置供电。本发明结合超宽带、TOF激光测距以姿态测量模块的狭长空间室内定位装置及方法，该装置仅需少量定位基站，即可实现狭长空间高精度室内二维定位，大幅降低室内定位系统的成本。In summary, the present invention provides an indoor positioning device, method, terminal and computer-readable storage medium for narrow and long spaces, wherein the device comprises: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, wherein the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server; the UWB positioning module is used to perform one-dimensional positioning of a target object in the long axis direction based on a pre-deployed UWB positioning base station to determine the position of the target object on the long axis; the posture measurement module is used to detect the motion posture information of the target object; the TOF laser ranging module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis; the control module is used to receive the measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module; the communication module is used to The communication module transmits the position information of the target object; the back-end server receives the information transmitted by the communication module, completes the two-dimensional coordinate solution of the target object, and provides it to the target object management system; the power supply module is used to power the indoor positioning device facing the narrow and long space. The present invention combines the narrow and long space indoor positioning device and method with ultra-wideband, TOF laser ranging and attitude measurement module. The device only needs a small number of positioning base stations to achieve high-precision indoor two-dimensional positioning in the narrow and long space, greatly reducing the cost of the indoor positioning system.
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者终端中还存在另外的相同要素。It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.
当然，本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关硬件(如处理器，控制器等)来完成，所述的程序可存储于一计算机可读取的计算机可读存储介质中，所述程序在执行时可包括如上述各方法实施例的流程。其中所述的计算机可读存储介质可为存储器、磁碟、光盘等。Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the program can be stored in a computer-readable storage medium that can be read by a computer, and the program can include the processes of the above-mentioned method embodiments when executed. The computer-readable storage medium can be a memory, a disk, an optical disk, etc.
应当理解的是，本发明的应用不限于上述的举例，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，所有这些改进和变换都应属于本发明所附权利要求的保护范围。It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims (10)

  1. 一种面向狭长空间的室内定位装置，其特征在于，所述面向狭长空间的室内定位装置包括：控制模块、UWB定位模块、姿态测量模块、TOF激光测距模块、通信模块、后端服务器和供电模块，所述控制模块分别与所述UWB定位模块、所述姿态测量模块、所述TOF激光测距模块、所述通信模块和所述供电模块连接，所述通信模块与所述后端服务器连接；An indoor positioning device for narrow and long spaces, characterized in that the indoor positioning device for narrow and long spaces comprises: a control module, a UWB positioning module, a posture measurement module, a TOF laser ranging module, a communication module, a back-end server and a power supply module, the control module is respectively connected to the UWB positioning module, the posture measurement module, the TOF laser ranging module, the communication module and the power supply module, and the communication module is connected to the back-end server;
    UWB定位模块，用于基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；A UWB positioning module is used to perform one-dimensional positioning of a target object in the long axis direction based on a pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
    姿态测量模块，用于检测所述目标对象的运动姿态信息；A posture measurement module, used to detect the motion posture information of the target object;
    TOF激光测距模块，用于测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置；A TOF laser ranging module is used to measure the distance from the target object to both sides of the short axis of the narrow and long space, and to correct the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
    控制模块，用于接收所述UWB定位模块、所述姿态测量模块和所述TOF激光测距模块发送的关于所述目标对象的测量信息；A control module, used to receive measurement information about the target object sent by the UWB positioning module, the posture measurement module and the TOF laser ranging module;
    通信模块，用于对所述目标对象的位置信息进行通讯传输；A communication module, used for communicating and transmitting the location information of the target object;
    后端服务器，用于接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统；A back-end server is used to receive the information transmitted by the communication module, complete the two-dimensional coordinate solution of the target object, and provide it to the target object management system;
    供电模块，用于为所述面向狭长空间的室内定位装置供电。A power supply module is used to supply power to the indoor positioning device facing the narrow and long space.
  2. 根据权利要求1所述的面向狭长空间的室内定位装置，其特征在于，所述目标对象包括设备和人员。According to the indoor positioning device for narrow and long spaces according to claim 1, it is characterized in that the target objects include equipment and personnel.
  3. 根据权利要求1所述的面向狭长空间的室内定位装置，其特征在于，所述姿态测量模块由陀螺仪、加速度计和磁力计组成。The indoor positioning device for narrow and long spaces according to claim 1 is characterized in that the posture measurement module is composed of a gyroscope, an accelerometer and a magnetometer.
  4. 根据权利要求1所述的面向狭长空间的室内定位装置，其特征在于，所述TOF激光测距模块由两个垂直于所述目标对象行进方向的激光测距仪组成。According to the indoor positioning device for narrow and long spaces according to claim 1, it is characterized in that the TOF laser ranging module is composed of two laser rangefinders perpendicular to the travel direction of the target object.
  5. 一种基于权利要求1-4任一项所述的面向狭长空间的室内定位装置的面向狭长空间的室内定位方法，其特征在于，所述面向狭长空间的室内定位方法包括：An indoor positioning method for a narrow and long space based on the indoor positioning device for a narrow and long space according to any one of claims 1 to 4, characterized in that the indoor positioning method for a narrow and long space comprises:
    所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置；The UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis;
    所述姿态测量模块检测所述目标对象的运动姿态信息，所述TOF激光测距模块测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激 光测距值，以获取所述目标对象在短轴的位置；The posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis;
    所述后端服务器接收所述通信模块传输的信息，完成所述目标对象的二维坐标解算，并提供给目标对象管理系统。The back-end server receives the information transmitted by the communication module, completes the two-dimensional coordinate solution of the target object, and provides it to the target object management system.
  6. 根据权利要求5所述的面向狭长空间的室内定位方法，其特征在于，所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置，之前还包括：The indoor positioning method for narrow and long spaces according to claim 5 is characterized in that the UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis, and the method further comprises:
    构建狭长空间二维坐标系，以目标对象到起点的里程为长轴坐标Y，目标对象到基准侧的距离为短轴坐标X，以坐标对(X，Y)表示目标对象的实时位置。A two-dimensional coordinate system is constructed in the narrow space, with the distance from the target object to the starting point as the long axis coordinate Y, the distance from the target object to the reference side as the short axis coordinate X, and the coordinate pair (X, Y) representing the real-time position of the target object.
  7. 根据权利要求6所述的面向狭长空间的室内定位方法，其特征在于，所述UWB定位模块基于预先布设的UWB定位基站对目标对象在长轴方向进行一维定位，以确定所述目标对象在长轴的位置，具体包括：The indoor positioning method for narrow and long spaces according to claim 6 is characterized in that the UWB positioning module performs one-dimensional positioning of the target object in the long axis direction based on the pre-deployed UWB positioning base station to determine the position of the target object in the long axis, specifically comprising:
    多个UWB定位基站以狭长空间中线为基准，从一端每隔预设距离均匀布置；各UWB定位基站通过有线连接中央时间同步器，再与后端服务器连接，构建覆盖整个狭长空间的长轴一维定位系统；长轴一维坐标计算如下：Multiple UWB positioning base stations are evenly arranged at preset distances from one end based on the center line of the narrow and long space. Each UWB positioning base station is connected to the central time synchronizer through a wire, and then connected to the back-end server to build a long-axis one-dimensional positioning system covering the entire narrow and long space. The long-axis one-dimensional coordinates are calculated as follows:
    Y＝(N-1)*S+d 0；(1) Y＝(N-1)*S+d 0 ；(1)
    其中，Y为目标对象的长轴坐标，N为目标对象前置UWB定位基站个数，S为UWB定位基站布置间隔，d 0为目标对象距离前一个UWB定位基站的距离； Wherein, Y is the long axis coordinate of the target object, N is the number of UWB positioning base stations in front of the target object, S is the layout interval of the UWB positioning base station, and d0 is the distance between the target object and the previous UWB positioning base station;
    TDOA定位技术通过目标对象向所有UWB定位基站广播超宽带脉冲，每个UWB定位基站在不同时刻接收到目标对象发送的信息，通过UWB定位基站接收信息的时间差，确定目标对象的位置；TDOA positioning technology broadcasts ultra-wideband pulses to all UWB positioning base stations through the target object. Each UWB positioning base station receives the information sent by the target object at different times, and determines the location of the target object through the time difference of the UWB positioning base station receiving the information;
    基于TDOA定位技术测得目标对象发射信号到两个UWB定位基站的飞行时间差，根据电磁波传输速度解算目标对象到两个UWB定位基站的距离差Δd；Based on TDOA positioning technology, the flight time difference between the target object's transmitted signal and the two UWB positioning base stations is measured, and the distance difference Δd from the target object to the two UWB positioning base stations is calculated according to the electromagnetic wave transmission speed;
    根据双曲线定义，确定目标对象实时位置在以两个UWB定位基站AP 1(X 1，Y 1)、AP 2(X 2，Y 2)为焦点的双曲线L 1上； According to the definition of the hyperbola, the real-time position of the target object is determined to be on the hyperbola L 1 with two UWB positioning base stations AP 1 (X 1 , Y 1 ) and AP 2 (X 2 , Y 2 ) as the focus;
    若目标对象同时在AP 1、AP 2所在的直线L 2上，L 1、L 2由下列方程组表示： If the target object is on the line L2 where AP1 and AP2 are located at the same time, L1 and L2 are represented by the following equations:
    Figure PCTCN2023071707-appb-100001
    Figure PCTCN2023071707-appb-100001
    解算方程组(2)，得到目标对象的两个模糊坐标P true(X true，Y true)、P false(X false，Y false)，根据目标对象到两个UWB定位基站的时间判断目标对象此时到两个UWB定位基站的距离的远近，以排除错误坐标P false，得到正确坐标P true； Solve equation group (2) to obtain two fuzzy coordinates P true (X true , Y true ) and P false (X false , Y false ) of the target object. According to the time when the target object arrives at the two UWB positioning base stations, determine the distance between the target object and the two UWB positioning base stations at this time, so as to eliminate the erroneous coordinate P false and obtain the correct coordinate P true ;
    根据如下公式：According to the following formula:
    Figure PCTCN2023071707-appb-100002
    Figure PCTCN2023071707-appb-100002
    计算目标对象到前一UWB定位基站AP 1的距离d 0，将d 0代入公式(1)得到目标对象此时在狭长空间二维坐标系中的长轴坐标Y。 Calculate the distance d 0 from the target object to the previous UWB positioning base station AP 1 , and substitute d 0 into formula (1) to obtain the long axis coordinate Y of the target object in the two-dimensional coordinate system of the narrow space at this time.
  8. 根据权利要求6所述的面向狭长空间的室内定位方法，其特征在于，所述姿态测量模块检测所述目标对象的运动姿态信息，所述TOF激光测距模块测量所述目标对象到狭长空间短轴两侧的距离，并结合所述运动姿态信息修正激光测距值，以获取所述目标对象在短轴的位置，具体包括：The indoor positioning method for narrow and long spaces according to claim 6 is characterized in that the posture measurement module detects the motion posture information of the target object, the TOF laser ranging module measures the distance from the target object to both sides of the short axis of the narrow and long space, and corrects the laser ranging value in combination with the motion posture information to obtain the position of the target object on the short axis, specifically comprising:
    所述TOF激光测距模块中的激光测距仪内部的高精度计时器记录激光发射时间T 1和接收时间T 2，结合激光飞行速度c，计算目标对象到狭长空间的两侧的距离D： The high-precision timer inside the laser rangefinder in the TOF laser ranging module records the laser emission time T1 and the receiving time T2 , and calculates the distance D from the target object to both sides of the narrow space in combination with the laser flight speed c:
    D＝c*(T 2-T 1)；(4) D = c*(T 2 -T 1 ); (4)
    将两个激光测距仪安装于目标对象两侧，发射器垂直于目标对象前进方向，实时获取目标对象到两侧的距离；Two laser rangefinders are installed on both sides of the target object, with the transmitter perpendicular to the target object's forward direction, to obtain the distance from the target object to both sides in real time;
    目标对象前进方向与狭长空间方向存在一定的夹角α，使激光测距仪的测量值D与目标对象到两侧实际垂直距离d存在误差；There is a certain angle α between the target object's forward direction and the narrow space direction, which causes an error between the laser rangefinder's measured value D and the actual vertical distance d from the target object to both sides;
    通过捷联惯导的姿态更新算法得到目标对象的实时姿态，解算得到出激光测距仪在某一时刻的姿态，捷联惯导的姿态更新算法表示为：The real-time attitude of the target object is obtained through the attitude update algorithm of the strapdown inertial navigation, and the attitude of the laser rangefinder at a certain moment is solved. The attitude update algorithm of the strapdown inertial navigation is expressed as:
    Figure PCTCN2023071707-appb-100003
    Figure PCTCN2023071707-appb-100003
    Figure PCTCN2023071707-appb-100004
    Figure PCTCN2023071707-appb-100004
    Figure PCTCN2023071707-appb-100005
    Figure PCTCN2023071707-appb-100005
    其中，n表示导航坐标系，b表示载体坐标系，k表示时刻，
    Figure PCTCN2023071707-appb-100006
    表示k时刻从载体坐标系旋转至导航坐标系的四元数，
    Figure PCTCN2023071707-appb-100007
    表示四元数乘法，Δθ k表示角速度增量，
    Figure PCTCN2023071707-appb-100008
    表示目标对象当前姿态的四元数，
    Figure PCTCN2023071707-appb-100009
    表示目标对象当前时刻的姿态矩阵；     Where n represents the navigation coordinate system, b represents the carrier coordinate system, k represents the time,
    Figure PCTCN2023071707-appb-100006
    The quaternion representing the rotation from the carrier coordinate system to the navigation coordinate system at time k,
    Figure PCTCN2023071707-appb-100007
    represents quaternion multiplication, Δθ k represents the angular velocity increment,
    Figure PCTCN2023071707-appb-100008
    A quaternion representing the current pose of the target object,
    Figure PCTCN2023071707-appb-100009
    Represents the posture matrix of the target object at the current moment;
    对当前得到的姿态通过如下公式进行相应的转换：The current posture is converted accordingly using the following formula:
    Figure PCTCN2023071707-appb-100010
    Figure PCTCN2023071707-appb-100010
    其中，
    Figure PCTCN2023071707-appb-100011
    表示目标对象相对于当前平面坐标系的姿态矩阵，
    Figure PCTCN2023071707-appb-100012
    表示最初始的平面坐标系到当前平面坐标系的变换矩阵；     in,
    Figure PCTCN2023071707-appb-100011
    Represents the attitude matrix of the target object relative to the current plane coordinate system,
    Figure PCTCN2023071707-appb-100012
    Represents the transformation matrix from the initial plane coordinate system to the current plane coordinate system;
    在三维空间中，将激光测距仪发射的光束表示为l向量，通过如下公式解算得到目标对象到狭长空间的两侧的距离：In three-dimensional space, the light beam emitted by the laser rangefinder is represented as the l vector, and the distance from the target object to both sides of the narrow space is calculated by the following formula:
    Figure PCTCN2023071707-appb-100013
    Figure PCTCN2023071707-appb-100013
    其中，l表示激光光束到两侧的原始测距信息，θ表示目标对象的俯仰角，
    Figure PCTCN2023071707-appb-100014
    表示目标对象的航向角。     Where l represents the original distance information of the laser beam to both sides, θ represents the pitch angle of the target object,
    Figure PCTCN2023071707-appb-100014
    Indicates the heading angle of the target object.
  9. 一种终端，其特征在于，所述终端包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的面向狭长空间的室内定位程序，所述面向狭长空间的室内定位程序被所述处理器执行时实现如权利要求5-8任一项所述的面向狭长空间的室内定位方法的步骤。A terminal, characterized in that the terminal includes: a memory, a processor, and an indoor positioning program for narrow and long spaces stored in the memory and executable on the processor, wherein the indoor positioning program for narrow and long spaces, when executed by the processor, implements the steps of the indoor positioning method for narrow and long spaces as described in any one of claims 5 to 8.
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有面向狭长空间的室内定位程序，所述面向狭长空间的室内定位程序被处理器执行时实现如权利要求5-8任一项所述的面向狭长空间的室内定位方法的步骤。A computer-readable storage medium, characterized in that the computer-readable storage medium stores an indoor positioning program for narrow and long spaces, and when the indoor positioning program for narrow and long spaces is executed by a processor, the steps of the indoor positioning method for narrow and long spaces as described in any one of claims 5-8 are implemented.
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