CN104076325A - Method of measuring reference node position, device and system - Google Patents

Method of measuring reference node position, device and system Download PDF

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Publication number
CN104076325A
CN104076325A CN201310100380.1A CN201310100380A CN104076325A CN 104076325 A CN104076325 A CN 104076325A CN 201310100380 A CN201310100380 A CN 201310100380A CN 104076325 A CN104076325 A CN 104076325A
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signal
reference node
coordinate system
measured
transmitting
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CN104076325B (en
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周波
黄新华
杨艳
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NEC China Co Ltd
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NEC China Co Ltd
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    • 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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention discloses a method of measuring a reference node position, a device and a system, and belongs to the computer field. The method comprises steps: when a signal receiving device slides on a coordinate axis of a first coordinate system and receives transmission signals transmitted by a signal transmitting device for multiple times, the position of the signal receiving device in the first coordinate system each time when the transmission signals are received and the distance between the signal receiving device at each acquired position and a to-be-measured reference node are acquired; according to each position and the distance between the signal receiving device at each position and the to-be-measured reference node, and the position of the to-be-measured reference node in a standard coordinate system is acquired. The device comprises a first acquisition module and a second acquisition module. The system comprises a signal transmitting device and a signal receiving device. Thus, the precision and the efficiency of measuring the reference node position can be improved.

Description

Method, device and system for measuring position of reference node
Technical Field
The present invention relates to the field of computers, and in particular, to a method, an apparatus, and a system for measuring a position of a reference node.
Background
With the rapid development of positioning technology, indoor positioning technology is currently available, which is to position an indoor target by an indoor positioning system. When the indoor positioning system positions the target, the indoor reference nodes with known positions need to be used to complete the positioning of the target, and therefore, before the indoor positioning system positions the target, the positions of the reference nodes located indoors need to be measured.
The positions of the reference nodes located indoors are measured in a manual measurement mode at present, and the positions may be: measuring the positions of all reference nodes positioned indoors by measuring tools such as a short distance or a laser range finder; then, the measuring personnel inputs the positions of the reference nodes measured by the measuring personnel into the indoor positioning system so as to be used by the indoor positioning system when positioning the target.
In the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
in the prior art, the positions of all indoor reference nodes are measured manually, so that large errors exist, long time is needed, and the precision and the efficiency of measuring the positions of the reference nodes are low.
Disclosure of Invention
In order to improve the precision and efficiency of measuring the position of the reference node, the invention provides a method, a device and a system for measuring the position of the reference node. The technical scheme is as follows:
in one aspect, a system for measuring reference node positions, the system comprising: a signal transmitting device and a signal receiving device;
the signal transmitting device is arranged on a reference node to be measured;
the signal receiving device slides along a coordinate axis of the first coordinate system and receives the transmitting signals transmitted by the signal transmitting device for multiple times during sliding.
In another aspect, a method of measuring a position of a reference node by the system includes:
when a signal receiving device slides on a coordinate axis of a first coordinate system and receives a transmission signal transmitted by a signal transmitting device for multiple times, acquiring a position of the signal receiving device in the first coordinate system each time the signal receiving device receives the transmission signal and a distance between the signal receiving device and a reference node to be measured at each acquired position;
and acquiring the position of the reference node to be measured in a standard coordinate system according to each position and the distance between the signal receiving device and the reference node to be measured at each position.
In another aspect, an apparatus for measuring a position of a reference node by the system includes:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the position of a signal receiving device in a first coordinate system every time the signal receiving device receives a transmission signal transmitted by a signal transmitting device when the signal receiving device slides on a coordinate axis of the first coordinate system and receives the transmission signal for multiple times, and the distance between the signal receiving device and a reference node to be measured at each acquired position;
and a second acquiring module, configured to acquire a position of the reference node to be measured in a standard coordinate system according to each position acquired by the first acquiring module and a distance between the signal receiving device and the reference node to be measured at each position.
In the embodiment of the invention, the position of the reference node to be measured in the standard coordinate system is obtained according to the position and the distance between the signal receiving device and the reference node to be measured at each position, so that the position of the reference node to be measured is automatically measured, and the precision and the efficiency of measuring the position of the reference node are improved.
Drawings
Fig. 1 is a schematic diagram of a first structure of a system for measuring a position of a reference node according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a second structure of a system for measuring a position of a reference node according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a third structure of a system for measuring a position of a reference node according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for measuring a position of a reference node according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for measuring a position of a reference node according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of a positional relationship between a first coordinate system and a standard coordinate system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a positional relationship between a first coordinate system and a standard coordinate system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an apparatus for measuring a position of a reference node according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a second obtaining module according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a first structure of a first obtaining module according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a second structure of a first obtaining module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 3, an embodiment of the present invention provides a system for measuring a reference node position, including: a signal transmitting apparatus 1 and a signal receiving apparatus 2;
the signal transmitting device 1 is installed on a reference node to be measured;
the signal receiving device 2 slides along one coordinate axis of the first coordinate system and receives the transmission signal transmitted by the signal transmitting device 1 a plurality of times during the sliding.
Further, the system further comprises:
and the slide rail 3, the slide rail 3 and one coordinate axis of the first coordinate system are superposed, and the signal receiving device 2 is arranged on the slide rail 3 and slides on the slide rail 3.
Preferably, the starting position of the slide rail 3 coincides with the origin of coordinates of the first coordinate system.
In an embodiment of the present invention, a system for measuring a position of a reference node includes: the system can automatically measure the position of the reference node to be measured, so that the precision and the efficiency of measuring the position of the reference node are improved compared with a manual measurement mode.
Referring to fig. 4, an embodiment of the present invention provides a method for measuring a reference node position by using the system provided in embodiment 1, including:
step 101: when the signal receiving device slides on a coordinate axis of a first coordinate system and receives the transmitting signal transmitted by the signal transmitting device for multiple times, acquiring the position of the signal receiving device in the first coordinate system each time the signal receiving device receives the transmitting signal and the distance between the signal receiving device and the reference node to be measured at each acquired position;
step 102: and acquiring the position of the reference node to be measured in the standard coordinate system according to each position and the distance between the signal receiving device and the reference node to be measured at each position.
Wherein acquiring a distance between the signal receiving device and a reference node to be measured at each of the acquired positions comprises:
presetting a transmitting signal sent by a signal transmitting device and transmitting time corresponding to the transmitting signal, and recording the corresponding relation between the transmitting signal and the transmitting time;
acquiring the receiving time of the signal receiving device for receiving the transmitting signal;
acquiring the corresponding transmitting time of the transmitting signal from the corresponding relation between the transmitting signal and the transmitting time;
and calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time and the acquired transmitting time.
Wherein acquiring a distance between the signal receiving device and a reference node to be measured at each of the acquired positions comprises:
setting a synchronous signal, enabling a signal transmitting device and a signal receiving device to receive the synchronous signal, and transmitting a transmitting signal when the signal transmitting device receives the synchronous signal;
acquiring the receiving time of the signal receiving device for receiving the transmitted signal;
acquiring the time for receiving the synchronous signal by the signal receiving device, and taking the time for receiving the synchronous signal by the signal receiving device as the transmitting time;
and calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time and the transmitting time.
The method for acquiring the position of the reference node to be measured in the standard coordinate system according to each position and the distance between the signal receiving device and the reference node to be measured at each position comprises the following steps:
acquiring the position of the reference node to be measured in a first coordinate system according to each position and the distance between the signal receiving device and the reference node to be measured at each position;
and converting the position of the reference node to be measured in the first coordinate system into the position in the standard coordinate system according to the conversion relation between the position in the first coordinate system and the position in the standard coordinate system.
Preferably, the acquiring the position of the reference node to be measured in the first coordinate system according to the each position and the distance between the signal receiving device and the reference node to be measured at each position includes:
acquiring the position of the reference node to be measured according to each position and the distance between the signal receiving device and the reference node to be measured at each position;
if a position is obtained, determining the obtained position as the position of the reference node to be measured in the first coordinate system;
if a plurality of positions are acquired, an average position of the acquired plurality of positions is calculated, and the calculated average position is determined as the position of the reference node to be measured in the first coordinate system.
In the embodiment of the invention, the position of the reference node to be measured in the standard coordinate system is obtained according to the position and the distance between the signal receiving device and the reference node to be measured at each position, so that the position of the reference node to be measured is automatically measured, and the precision and the efficiency of measuring the position of the reference node are improved.
Referring to fig. 5, another embodiment of the present invention provides a method for measuring a reference node position by the system provided in embodiment 1, including:
step 201: when the signal receiving device 2 slides on a coordinate axis of the first coordinate system and receives the transmission signal transmitted by the signal transmitting device 1 for a plurality of times, acquiring a position in the first coordinate system each time the signal receiving device 2 receives the transmission signal and a distance between the signal receiving device 2 and a reference node to be measured at each acquired position;
specifically, a transmitting signal sent by the signal transmitting device 1 and transmitting time corresponding to the transmitting signal are preset, and a corresponding relation between the transmitting signal and the transmitting time is recorded; when the signal receiving device 2 receives a transmitting signal transmitted by the signal transmitting device 1, acquiring a position of the signal receiving device 2 in a first coordinate system when receiving the transmitting signal and receiving time of the transmitting signal, acquiring transmitting time corresponding to the transmitting signal from a corresponding relation between the transmitting signal and the transmitting time, and calculating a distance between the signal receiving device 2 and a reference node to be measured at the position according to a preset signal transmission speed, the acquired receiving time and the acquired transmitting time; or,
setting a synchronous signal, enabling the signal transmitting device 1 and the signal receiving device 2 to receive the synchronous signal, and enabling the signal transmitting device 1 to transmit a transmitting signal when receiving the synchronous signal; acquiring the position of the signal receiving device 2 in the first coordinate system when receiving the transmission signal and the receiving time of receiving the transmission signal, acquiring the time of receiving the synchronization signal by the signal receiving device 2, taking the time of receiving the synchronization signal by the signal receiving device 2 as the transmitting time, and calculating the distance between the signal receiving device 2 and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time and the transmitting time.
Among them, referring to fig. 1 to 3, a signal transmitting apparatus 1 is installed at a reference node to be measured and transmits a transmission signal. The signal receiving device 2 slides along a coordinate axis of the first coordinate system.
Preferably, a slide rail 3 is disposed on a coordinate axis of the first coordinate system, and the signal receiving device 2 is mounted on the slide rail 3 and can slide on the slide rail 3. Preferably, the starting position of the slide rail 3 may coincide with a coordinate axis of the first coordinate system.
The coordinate system x 'y' z 'is a first coordinate system, the coordinate system xyz is a standard coordinate system, 0' is a coordinate origin of the first coordinate system, 0 is a coordinate origin of the standard coordinate system, and the first coordinate system and the standard coordinate system may or may not coincide.
The first coordinate system is a three-dimensional coordinate system, and the signal receiving device 2 can slide along an abscissa axis of the first coordinate system, along an ordinate axis of the first coordinate system, or along a vertical axis of the first coordinate system.
In the embodiment of the present invention, a plurality of transmission signals and transmission time corresponding to each transmission signal may be preset, and each transmission signal and transmission time corresponding to each transmission signal may be stored in a corresponding relationship between the transmission signal and the transmission time.
The signal transmitting apparatus 1 transmits each transmission signal at a transmission time corresponding to each transmission signal set in advance. Accordingly, the signal receiving device 2 receives the transmission signal transmitted each time by the signal transmitting device 1 while sliding on a seat axis of the first coordinate system.
For example, it is preset that the plurality of transmission signals are transmission signals 1, 2, 3, 4, 5, and 6, respectively, and the transmission signals 1, 2, 3, 4, 5, and 6 correspond to transmission times t1, t2, t3, t4, t5, and t6, respectively, and the transmission times t1, t2, t3, t4, t5, and t6, which correspond to the transmission signals 1, 2, 3, 4, 5, and 6, respectively, are stored in the correspondence relationship of the transmission signals and the transmission times as shown in table 1.
TABLE 1
Transmitting signal Time of transmission
Transmitting signal 1 t1
Transmitting signal 2 t2
Transmitting signal 3 t3
Emission signal 4 t4
Transmitting signal 5 t5
Transmitting signal 6 t6
Therein, with reference to fig. 1, it is assumed that the signal receiving device 2 slides along the abscissa axis of the first coordinate system; the signal transmission device 1 can transmit the transmission signals 1, 2, 3, 4, 5, and 6 at the transmission times t1, t2, t3, t4, t5, and t6, respectively.
Accordingly, when the signal receiving apparatus 2 receives the transmission signal 1, the reception time t7 at which the signal receiving apparatus 2 receives the transmission signal 1 and the position x1 in the first coordinate system are obtained, the corresponding transmission time t1 is obtained from the stored correspondence relationship between the transmission signal and the transmission time shown in table 1 according to the transmission signal 1, and the distance L1 between the signal receiving apparatus 2 and the reference node to be measured at the position 1 is calculated according to the preset signal transmission speed, the reception time t7 and the transmission time t 1.
Wherein, when the signal receiving apparatus 2 receives the transmission signals 2, 3, 4, 5, and 6, the positions x2, x3, x4, x5, and x6 in the first coordinate system, respectively, when the signal receiving apparatus 2 receives the transmission signals 2, 3, 4, 5, and 6, respectively, are acquired in the same manner as described above, and the distances between the signal receiving apparatus 2 and the reference nodes to be measured at the positions x2, x3, x4, x5, and x6, respectively, are L2, L3, L4, L5, and L6.
In the embodiment of the present invention, a synchronization signal may be set, so that the signal receiving apparatus 2 and the signal transmitting apparatus 1 receive the synchronization signal, and the signal transmitting apparatus 1 transmits a transmission signal when receiving the synchronization signal.
Here, a synchronization signal transmitting device may be provided, which may randomly or periodically transmit a synchronization signal, and which is located between the signal receiving device 2 and the signal transmitting device 1.
For example, referring to fig. 1, it is assumed that the signal receiving device 2 slides along the abscissa axis of the first coordinate system; the synchronous signal transmitting device randomly or periodically transmits a transmitting synchronous signal, and the signal transmitting device 1 transmits a transmitting signal when receiving the synchronous signal; the signal receiving means 2 receives the synchronization signal and receives the transmission signal.
Accordingly, the time t1 at which the signal receiving apparatus 2 receives the synchronization signal is obtained, and the time t1 is taken as the transmission time at which the signal transmitting apparatus 1 transmits the transmission signal; acquiring the receiving time t2 when the signal receiving device 2 receives the transmitting signal and the position x1 in the first coordinate system, and calculating the distance L1 between the signal receiving device 2 and the reference node to be measured at the position x1 according to the preset signal transmission speed, the transmitting time t1 and the receiving time t 2. Wherein the synchronization signal transmitting apparatus continues to transmit the synchronization signal and acquires the positions x2, x3, x4, x5 and x6 of the signal receiving apparatus 2 in the first coordinate system in the same manner as described above, and the distances between the signal receiving apparatus 2 and the reference nodes to be measured at the positions x2, x3, x4, x5 and x6 are L2, L3, L4, L5 and L6, respectively.
Referring to fig. 2, in the embodiment of the present invention, the signal receiving device 2 may slide along the ordinate axis of the first coordinate system. When the signal receiving apparatus 2 slides along the ordinate axis of the first coordinate system and receives the transmission signals transmitted by the signal transmitting apparatus 1 in multiple times, the positions in the first coordinate system at each time the signal receiving apparatus 2 receives the transmission signals are respectively y1, y2, y3, y4, y5, and y6 in the same manner as described above, and the distances from the reference node to be measured at the acquired positions y1, y2, y3, y4, y5, and y6 are respectively L1, L2, L3, L4, L5, and L6.
Referring to fig. 3, in the embodiment of the present invention, the signal receiving device 2 may slide along the vertical axis of the first coordinate system. When the signal receiving apparatus 2 slides along the vertical axis of the first coordinate system and receives the transmission signal transmitted by the signal transmitting apparatus 1 in multiple times, the positions in the first coordinate system at each reception of the transmission signal by the signal receiving position 2 in the same manner as described above are z1, z2, z3, z4, z5, and z6, respectively, and the distances from the reference node to be measured at the acquired positions z1, z2, z3, z4, z5, and z6 are L1, L2, L3, L4, L5, and L6, respectively.
Among them, it should be noted that: the first coordinate system may be non-coincident with the standard coordinate system: when the first coordinate system is established, a plane formed by an abscissa axis and an ordinate axis of the first coordinate system and a plane formed by an abscissa axis and an ordinate axis of the standard coordinate system are located on the same plane, the directions of the abscissa axis and the ordinate axis of the first coordinate system and the standard coordinate system are different, but the directions of the ordinate axis of the first coordinate system and the ordinate axis of the standard coordinate system are the same. For example, referring to fig. 6 and 7, a plane formed by an abscissa axis x 'and an ordinate axis y' of the first coordinate system is the same plane as a plane formed by an abscissa axis x and an ordinate axis y of the standard coordinate system, and a direction of the abscissa axis and a direction of the ordinate axis of the first coordinate system are different from a direction of the abscissa axis and a direction of the ordinate axis of the standard coordinate system, respectively.
Step 202: acquiring the position of the reference node to be measured in the first coordinate system according to each acquired position and the distance between the signal receiving device 2 and the reference node to be measured at each position;
specifically, the position of the reference node to be measured is acquired from each position and the distance between the signal receiving device 2 and the reference node to be measured at each position, and if one position is acquired, the acquired one position is determined as the position of the reference node to be measured in the first coordinate system, and if a plurality of positions are acquired, the average position of the acquired plurality of positions is calculated, and the calculated average position is determined as the position of the reference node to be measured in the first coordinate system.
In the embodiment of the present invention, a linear equation set is constructed according to the pythagorean theorem and the distance between the signal receiving device 2 and the reference node to be measured at each position, and the linear equation set is solved to obtain the position of the reference node to be measured.
Wherein, for example, referring to fig. 1, if the signal receiving apparatus 2 slides along the abscissa axis of the first coordinate system, the coordinates of the positions x1, x2, x3, x4, x5, and x6 are (x) respectively1，0，0）、（x2，0，0）、（x3，0，0）、（x4，0，0）、（x50, 0) and (x)6,0,0). From the positions x1, x2, x3, x4, x5 and x6 and the distances L1, L2, L3, L4, L5 and L6 between the signal receiving apparatus 2 and the reference node to be measured at the positions x1, x2, x3, x4, x5 and x6, respectively, a linear equation set shown in the following formula (1) and a linear equation set shown in the following formula (2) are constructed in accordance with the uncinate theorem, and formula 1 and the common formula are givenThe independent variables of the system of linear equations shown in equation (2) are the abscissa x, the ordinate y, and the ordinate z included in the position of the reference node to be measured. Solving the linear equation system shown in the formula (1) to obtain the position (x) of the reference node to be measured11，y11，z11) (ii) a And solving a linear equation set shown in formula (2) to obtain the position (x) of the reference node to be measured12、y12，z12）。
L 1 2 = ( x - x 1 ) 2 + y 2 + z 2 L 2 2 = ( x - x 2 ) 2 + y 2 + z 2 L 3 3 = ( x - x 3 ) 2 + y 2 + z 2 . . . . . . ( 1 ) ;
L 4 2 = ( x - x 4 ) 2 + y 2 + z 2 L 5 2 = ( x - x 5 ) 2 + y 2 + z 2 L 6 2 = ( x - x 6 ) 2 + y 2 + z 2 . . . . . . ( 2 ) ;
Wherein, for example, referring to fig. 2, if the signal receiving apparatus 2 slides along the ordinate axis of the first coordinate system, the coordinates of the positions y1, y2, y3, y4, y5, and y6 are (0, y) respectively1，0）、（0，y2，0）、（0，y3，0）、（0，y4，0）、（0，y50) and (0, y)6,0). From the positions y1, y2, y3, y4, y5 and y6 and the distances L1, L2, L3, L4, L5 and L6 between the signal receiving apparatus 2 and the reference node to be measured at the positions y1, y2, y3, y4, y5 and y6, respectively, a linear equation set shown in the following formula (3) and a linear equation set shown in the following formula (4) are constructed in accordance with the uncinate theorem, and the independent variables of the linear equation sets shown in the formulas (3) and (4) are the abscissa x, ordinate y and ordinate z included in the position of the reference node to be measured. Solving the linear equation set shown in the formula (3) to obtain the position (x) of the reference node to be measured11，y11，z11) (ii) a And solving a linear equation set shown in formula (4) to obtain the position (x) of the reference node to be measured12、y12，z12）。
L 1 2 = x 2 + ( y - y 1 ) 2 + z 2 L 2 2 = x 2 + ( y - y 2 ) 2 + z 2 L 3 3 = x 2 + ( y - y 3 ) 2 + z 2 . . . . . . ( 3 ) ;
L 4 2 = x 2 + ( y - y 4 ) 2 + z 2 L 5 2 = x 2 + ( y - y 5 ) 2 + z 2 L 6 2 = x 2 + ( y - y 6 ) 2 + z 2 . . . . . . ( 4 ) ;
Wherein, for example, referring to fig. 3, if the signal receiving apparatus 2 slides along the vertical axis of the first coordinate system, the coordinates of the positions z1, z2, z3, z4, z5, and z6 are (0, 0, z) respectively1）、（0，0，z2）、（0，0，z3）、（0，0，z4）、（0，0，z5) And (0, 0, z)6). From the positions z1, z2, z3, z4, z5 and z6 and the distances L1, L2, L3, L4, L5 and L6 between the signal receiving apparatus 2 and the reference node to be measured at the positions z1, z2, z3, z4, z5 and z6, respectively, a linear equation set shown in the following formula (5) and a linear equation set shown in the following formula (6) are constructed in accordance with the uncinate theorem, and the independent variables of the linear equation sets shown in the formulas (5) and (6) are the abscissa x, ordinate y and ordinate z included in the position of the reference node to be measured. Solving the linear equation system shown in the formula (5) to obtain the position (x) of the reference node to be measured11，y11，z11) (ii) a And solving the linear equation set shown in the formula (6) to obtain the position (x) of the reference node to be measured12、y12，z12）。
L 1 2 = x 2 + y 2 + ( z - z 1 ) 2 L 2 2 = x 2 + y 2 + ( z - z 2 ) 2 L 3 3 = x 2 + y 2 + ( z - z 3 ) 2 . . . . . . ( 5 ) ;
L 4 2 = x 2 + y 2 + ( z - z 4 ) 2 L 5 2 = x 2 + y 2 + ( z - z 5 ) 2 L 6 2 = x 2 + y 2 + ( z - z 6 ) 2 . . . . . . ( 6 ) ;
Wherein the position (x) of the reference node to be measured is solved11，y11，z11) And (x)12、y12，z12) Thereafter, the position (x) of the reference node to be measured is calculated as the following formula (7)11，y11，z11) And (x)12、y12，z12) Average position (x) of0，y0，z0) Average position (x) to be calculated0，y0，z0) The position of the reference node to be measured in the first coordinate system is determined.
x 0 = x 11 + x 12 2 y 0 = y 11 + y 12 2 z 0 = z 11 + z 12 2 . . . . . . ( 7 ) ;
In the embodiment of the present invention, the number of the acquired positions of the signal receiving device 2 in the first coordinate system may be more than three, so that a plurality of linear equations are constructed, a plurality of positions corresponding to the reference node to be measured are solved, an average position of the plurality of positions is calculated, and the average position is used as the position of the reference node to be measured in the first coordinate system, thereby improving the accuracy of measuring the position of the reference node to be measured in the first coordinate system.
Wherein the vertical coordinates of the reference node located indoors in the standard coordinate system are generally known. When the first coordinate system is established, a plane formed by an abscissa axis and an ordinate axis of the first coordinate system and a plane formed by an abscissa axis and an ordinate axis of the standard coordinate system are located on the same plane, so that the direction of a vertical axis of the first coordinate system is the same as the direction of a vertical axis of the standard coordinate system, and the vertical coordinate of the reference node to be measured in the first coordinate system is the same as the vertical coordinate in the standard coordinate system, therefore, a linear equation set comprising two equations can be established according to two positions and the distances between the signal receiving device 2 and the reference node to be measured at the two positions respectively, and the position of the reference node to be measured is solved.
Step 203: and converting the position of the reference node to be measured in the first coordinate system into the position in the standard coordinate system according to the conversion relation between the position in the first coordinate system and the position in the standard coordinate system.
In the embodiment of the present invention, the conversion relationship between the position in the first coordinate system and the position in the standard coordinate system may be a correspondence relationship between the position in the first coordinate system and the position in the standard coordinate system;
correspondingly, the steps can be as follows: and acquiring the position of the reference node to be measured in the standard coordinate system from the corresponding relation between the position in the first coordinate system and the position in the standard coordinate system according to the position of the reference node to be measured in the first coordinate system.
Wherein, if the first coordinate system and the standard coordinate system coincide, the step may be: the position of the reference node to be measured in the first coordinate system is directly determined as the position in the standard coordinate system.
If the first coordinate system and the standard coordinate system are not coincident, and the plane formed by the abscissa axis and the ordinate axis of the first coordinate system and the plane formed by the abscissa axis and the ordinate axis of the standard coordinate system are located on the same plane, at this time, the vertical coordinate of the reference node to be measured in the first coordinate system is the same as the vertical coordinate in the standard coordinate system, but the abscissa of the reference node to be measured in the first coordinate system is different from the abscissa in the standard coordinate system, and the ordinate of the reference node to be measured in the first coordinate system is also different from the ordinate in the standard coordinate system, so that the abscissa and the ordinate of the reference node to be measured in the first coordinate system need to be respectively converted into the abscissa and the ordinate in the standard coordinate system, which may be:
referring to fig. 6, the signal receiving device 2 slides along the abscissa axis of the first coordinate system, and the abscissa axis of the first coordinate system passes through the origin of coordinates of the standard coordinate system, and according to the abscissa of the reference node to be measured in the first coordinate system, the distance between the origin of coordinates of the first coordinate system and the origin of coordinates of the standard coordinate system, and the included angle between the abscissa axis of the first coordinate system and the abscissa axis of the standard coordinate system, and through the conversion relationship between the position in the first coordinate system and the position in the standard coordinate system as shown in the following formula (8), the abscissa and the ordinate of the reference node to be measured in the standard coordinate system are calculated, so that the abscissa, the ordinate, and the ordinate included in the position of the reference node to be measured in the standard coordinate system are obtained.
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mi>l</mi> <mo>+</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mi>cos</mi> <mrow> <mo>(</mo> <mo>&PartialD;</mo> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mi>l</mi> <mo>+</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mo>&PartialD;</mo> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> <mo>;</mo> </mrow> </math>
Wherein, in the formula (8), x1And y1Respectively an abscissa and an ordinate comprised by the position of the reference node to be measured in the standard coordinate system, l being the distance between the origin of coordinates of the first coordinate system and the origin of coordinates of the standard coordinate system,is the angle between the abscissa axis of the first coordinate system and the abscissa axis of the standard coordinate system.
Wherein if the starting position of the slide rail 3 coincides with the origin of coordinates of the first coordinate system, l is also the distance between the slide rail 3 and the origin of coordinates of the standard coordinate system,also the angle between the slide rail 3 and the abscissa axis of the standard coordinate system.
If the abscissa axis of the first coordinate system does not pass through the origin of coordinates of the standard coordinate system, translating the standard coordinate system to obtain a second coordinate system, enabling the abscissa axis of the first coordinate system to pass through the origin of coordinates of the second coordinate system, and recording the translation amount of the translated standard coordinate system; then calculating the abscissa and ordinate of the reference node to be measured in the second coordinate system through the conversion relation between the position in the first coordinate system and the position in the standard coordinate system shown in the formula (8); and translating the abscissa and the ordinate of the reference node to be measured in the second coordinate system according to the recorded translation amount to obtain the abscissa and the ordinate of the reference node to be measured in the standard coordinate system.
Referring to fig. 7, the signal receiving device 2 slides along the abscissa axis of the first coordinate system, and the abscissa axis of the first coordinate system passes through the origin of coordinates of the standard coordinate system, then according to the abscissa of the reference node to be measured in the first coordinate system, the distance between the origin of coordinates of the first coordinate system and the origin of coordinates of the standard coordinate system, and the included angle between the ordinate axis of the first coordinate system and the ordinate axis of the standard coordinate system, and through the conversion relationship between the position in the first coordinate system and the position in the standard coordinate system shown in the following formula (9), the abscissa and the ordinate of the reference node to be measured in the standard coordinate system are calculated, so as to obtain the abscissa, the ordinate, and the ordinate included in the position of the reference node to be measured in the standard coordinate system.
<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mi>l</mi> <mo>+</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mo>&PartialD;</mo> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mi>l</mi> <mo>+</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <mi>cos</mi> <mrow> <mo>(</mo> <mo>&PartialD;</mo> <mo>)</mo> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mo>.</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> <mo>;</mo> </mrow> </math>
Wherein, in the formula (9), x1And y1Respectively an abscissa and an ordinate comprised by the position of the reference node to be measured in the standard coordinate system, l being the distance between the origin of coordinates of the first coordinate system and the origin of coordinates of the standard coordinate system,is the angle between the ordinate axis of the first coordinate system and the ordinate axis of the standard coordinate system.
If the ordinate axis of the first coordinate system does not pass through the origin of coordinates of the standard coordinate system, translating the standard coordinate system to obtain a second coordinate system, enabling the ordinate axis of the first coordinate system to pass through the origin of coordinates of the second coordinate system, and recording the translation amount of the translated standard coordinate system; then, calculating the abscissa and the ordinate of the reference node to be measured in the second coordinate system through the conversion relation between the position in the first coordinate system and the position in the standard coordinate system shown in the formula (9); and translating the abscissa and the ordinate of the reference node to be measured in the second coordinate system according to the recorded translation amount to obtain the abscissa and the ordinate of the reference node to be measured in the standard coordinate system.
In the embodiment of the invention, the position of the reference node to be measured in the standard coordinate system is obtained according to the position and the distance between the signal receiving device and the reference node to be measured at each position, so that the position of the reference node to be measured is automatically measured, and the precision and the efficiency of measuring the position of the reference node are improved; in addition, a plurality of positions of the reference node to be measured can be acquired, the average position of the positions can be calculated, and the average position is used as the position of the reference node to be measured in the first coordinate system, so that the precision and the efficiency of measuring the position of the reference node are further improved.
Referring to fig. 8, an embodiment of the present invention provides an apparatus for measuring a reference node position by using the system described in embodiment 1, including:
a first obtaining module 301, configured to, when the signal receiving apparatus slides on a coordinate axis of the first coordinate system and receives the transmission signal transmitted by the signal transmitting apparatus for multiple times, obtain a position in the first coordinate system and a distance between the signal receiving apparatus and a reference node to be measured at each obtained position when the signal receiving apparatus receives the transmission signal each time;
a second obtaining module 302, configured to obtain a position of the reference node to be measured in the standard coordinate system according to the each position obtained by the first obtaining module 301 and a distance between the signal receiving apparatus and the reference node to be measured at the each position.
Among them, referring to fig. 9, the second obtaining module 302 includes:
a first acquisition unit 3021 configured to acquire a position of a reference node to be measured in a first coordinate system from each position and a distance between the signal receiving apparatus and the reference node to be measured at each position;
a second acquiring unit 3022 configured to convert the position of the reference node to be measured acquired by the first acquiring unit 3021 in the first coordinate system into a position in the standard coordinate system according to a conversion relationship between the position in the first coordinate system and the position in the standard coordinate system.
The first acquiring unit 3021 includes:
an acquisition subunit, configured to acquire a position of a reference node to be measured, based on each position and a distance between the signal receiving device and the reference node to be measured at each position;
the first determining subunit is used for determining the acquired position as the position of the reference node to be measured in the first coordinate system if the acquiring subunit acquires the position;
and a second determining subunit, configured to, if the plurality of positions are acquired by the acquiring subunit, calculate an average position of the acquired plurality of positions, and determine the average position as the position of the reference node to be measured in the first coordinate system.
Among them, referring to fig. 10, the first obtaining module 301 includes:
a first setting unit 3011, configured to preset a transmission signal sent by a signal transmitting apparatus and a transmission time corresponding to the transmission signal, and record a corresponding relationship between the transmission signal and the transmission time;
a third acquisition unit 3012, configured to acquire a reception time when the signal receiving apparatus receives the transmission signal;
a fourth obtaining unit 3013, configured to obtain the emission time corresponding to the emission signal from the correspondence between the emission signal and the emission time recorded by the first setting unit 3012;
a first calculation unit 3014, configured to calculate a distance between the signal receiving apparatus and a reference node to be measured at the position according to a preset signal transmission speed, the receiving time acquired by the third acquisition unit 3012, and the transmitting time acquired by the fourth acquisition unit 3013.
Among them, referring to fig. 11, the first obtaining module 301 includes:
a second setting unit 3015, configured to set a synchronization signal, so that the signal transmitting apparatus and the signal receiving apparatus receive the synchronization signal, and the signal transmitting apparatus transmits a transmission signal when receiving the synchronization signal;
a fifth acquiring unit 3016, configured to acquire a reception time when the signal receiving apparatus receives the transmission signal;
a sixth acquiring unit 3017, configured to acquire a time when the signal receiving apparatus receives the synchronization signal set by the second setting unit 3015, and take the time when the signal receiving apparatus receives the synchronization signal as a transmission time;
a second calculation unit 3018, configured to calculate a distance between the signal receiving apparatus and the reference node to be measured at the position according to a preset signal transmission speed, the reception time acquired by the fifth acquisition unit 3016, and the transmission time acquired by the sixth acquisition unit 3017.
In the embodiment of the invention, the position of the reference node to be measured in the standard coordinate system is obtained according to the position and the distance between the signal receiving device and the reference node to be measured at each position, so that the position of the reference node to be measured is automatically measured, and the precision and the efficiency of measuring the position of the reference node are improved.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (12)

1. A system for measuring a position of a reference node, the system comprising: a signal transmitting device and a signal receiving device;
the signal transmitting device is arranged on a reference node to be measured;
the signal receiving device slides along a coordinate axis of the first coordinate system and receives the transmitting signals transmitted by the signal transmitting device for multiple times during sliding.
2. The system of claim 1, wherein the system further comprises:
the sliding rail is overlapped with one coordinate axis of the first coordinate system, and the signal receiving device is installed on the sliding rail and slides on the sliding rail.
3. A method of measuring a reference node position by the system of claim 1 or 2, the method comprising:
when a signal receiving device slides on a coordinate axis of a first coordinate system and receives a transmission signal transmitted by a signal transmitting device for multiple times, acquiring a position of the signal receiving device in the first coordinate system each time the signal receiving device receives the transmission signal and a distance between the signal receiving device and a reference node to be measured at each acquired position;
and acquiring the position of the reference node to be measured in a standard coordinate system according to each position and the distance between the signal receiving device and the reference node to be measured at each position.
4. The method according to claim 3, wherein the obtaining the position of the reference node to be measured in a standard coordinate system according to the each position and the distance between the signal receiving device and the reference node to be measured at the each position comprises:
acquiring the position of the reference node to be measured in the first coordinate system according to the distance between each position and the signal receiving device and the reference node to be measured at each position;
and converting the position of the reference node to be measured in the first coordinate system into the position in the standard coordinate system according to the conversion relation between the position in the first coordinate system and the position in the standard coordinate system.
5. The method according to claim 4, wherein the obtaining the position of the reference node to be measured in the first coordinate system according to the each position and the distance between the signal receiving device and the reference node to be measured at the each position comprises:
acquiring the position of the reference node to be measured according to each position and the distance between the signal receiving device and the reference node to be measured at each position;
if a position is obtained, determining the obtained position as the position of the reference node to be measured in the first coordinate system;
if a plurality of positions are acquired, calculating an average position of the acquired plurality of positions, and determining the average position as the position of the reference node to be measured in the first coordinate system.
6. The method of claim 3, wherein said obtaining a distance between the signal receiving device and a reference node to be measured at each location of acquisition comprises:
presetting the transmitting signal sent by the signal transmitting device and transmitting time corresponding to the transmitting signal, and recording the corresponding relation between the transmitting signal and the transmitting time;
acquiring the receiving time of the signal receiving device for receiving the transmitting signal;
acquiring the corresponding transmitting time of the transmitting signal from the corresponding relation between the transmitting signal and the transmitting time;
and calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time and the acquired transmitting time.
7. The method of claim 3, wherein said obtaining a distance between the signal receiving device and a reference node to be measured at each location of acquisition comprises:
setting a synchronous signal, enabling the signal transmitting device and the signal receiving device to receive the synchronous signal, and enabling the signal transmitting device to transmit the transmitting signal when receiving the synchronous signal;
acquiring the receiving time of the signal receiving device for receiving the transmitting signal;
acquiring the time of the signal receiving device for receiving the synchronous signal, and taking the time of the signal receiving device for receiving the synchronous signal as the transmitting time;
and calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time and the transmitting time.
8. An apparatus for measuring a reference node position by the system of claim 1 or 2, the apparatus comprising:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the position of a signal receiving device in a first coordinate system every time the signal receiving device receives a transmission signal transmitted by a signal transmitting device when the signal receiving device slides on a coordinate axis of the first coordinate system and receives the transmission signal for multiple times, and the distance between the signal receiving device and a reference node to be measured at each acquired position;
and a second acquiring module, configured to acquire a position of the reference node to be measured in a standard coordinate system according to each position acquired by the first acquiring module and a distance between the signal receiving device and the reference node to be measured at each position.
9. The apparatus of claim 8, wherein the second obtaining module comprises:
a first acquisition unit configured to acquire a position of a reference node to be measured in the first coordinate system based on the each position and a distance between the signal receiving device and the reference node to be measured at the each position;
a second acquiring unit, configured to convert the position of the reference node to be measured acquired by the first acquiring unit in the first coordinate system into a position in a standard coordinate system according to a conversion relationship between the position in the first coordinate system and the position in the standard coordinate system.
10. The apparatus of claim 9, wherein the first obtaining unit comprises:
an acquisition subunit, configured to acquire a position of a reference node to be measured according to each position and a distance between the signal receiving device and the reference node to be measured at each position;
a first determining subunit, configured to determine, if the obtaining subunit obtains a position, the obtained position as a position of the reference node to be measured in the first coordinate system;
a second determining subunit, configured to, if the acquiring subunit acquires multiple positions, calculate an average position of the acquired multiple positions, and determine the average position as a position of the reference node to be measured in the first coordinate system.
11. The apparatus of claim 8, wherein the first obtaining module comprises:
the first setting unit is used for presetting the transmitting signal sent by the signal transmitting device and the transmitting time corresponding to the transmitting signal and recording the corresponding relation between the transmitting signal and the transmitting time;
a third acquiring unit, configured to acquire a receiving time when the signal receiving apparatus receives the transmission signal;
a fourth obtaining unit, configured to obtain the emission time corresponding to the emission signal from the correspondence between the emission signal and the emission time recorded by the first setting unit;
and the first calculation unit is used for calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time acquired by the third acquisition unit and the transmitting time acquired by the fourth acquisition unit.
12. The apparatus of claim 8, wherein the first obtaining module comprises:
a second setting unit, configured to set a synchronization signal, so that the signal transmitting apparatus and the signal receiving apparatus receive the synchronization signal, and the signal transmitting apparatus transmits the transmission signal when receiving the synchronization signal;
a fifth acquiring unit, configured to acquire a receiving time when the signal receiving apparatus receives the transmission signal;
a sixth acquiring unit, configured to acquire a time when the signal receiving apparatus receives the synchronization signal set by the second setting unit, and use the time when the signal receiving apparatus receives the synchronization signal as a transmission time;
and the second calculation unit is used for calculating the distance between the signal receiving device and the reference node to be measured at the position according to the preset signal transmission speed, the receiving time acquired by the fifth acquisition unit and the transmitting time acquired by the sixth acquisition unit.
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