CN107085197A - The robot of indoor positioning is realized based on ultra-broadband ranging - Google Patents
The robot of indoor positioning is realized based on ultra-broadband ranging Download PDFInfo
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- CN107085197A CN107085197A CN201710541859.7A CN201710541859A CN107085197A CN 107085197 A CN107085197 A CN 107085197A CN 201710541859 A CN201710541859 A CN 201710541859A CN 107085197 A CN107085197 A CN 107085197A
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- robot
- wide band
- ultra wide
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- beacons
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
It is supporting with it by three ultra wide band beacons the invention discloses the robot that indoor positioning is realized based on ultra-broadband ranging, it is characterized in that：The robot includes a ultra wide band module, the ultra wide band module is communicated respectively with installing three ultra wide band beacons of sustained height indoors, three ultra wide band beacons are measured respectively to the distance of robot ultra wide band module, further according to the distance measured, the installation site of three beacons, calculate the position of robot on a certain plane, so as to realize the precise positioning of robot, accurate positioning is at least 9cm.The beneficial effects of the invention are as follows can realize robot precise positioning, accurate positioning is at least 9cm, substantially meets demand.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of robot that indoor positioning is realized based on ultra-broadband ranging.
Background technology
The indoor positioning of robot can not use GPS, and the indoor positioning of current robot is realized using 2 kinds of modes, a kind of
Positioning method is positioned using the intensity of WIFI or Bluetooth signal, and which precision is low, and error is big, is used it is difficult to meet
It is required that；The second way is positioned using ultrasonic wave, has the disadvantage that ultrasonic wave transmitting and receiving angle are small, machine is needed during positioning
Device people, which installs multiple ultrasonic wave modules, could meet requirement.
The content of the invention
In order to overcome disadvantages mentioned above, the invention provides a kind of robot that indoor positioning is realized based on ultra-broadband ranging.
The technical scheme that is used to achieve the above object of the present invention is：
The robot of indoor positioning is realized based on ultra-broadband ranging, it is supporting with it by three ultra wide band beacons, it is characterized in that：It is described
Robot includes a ultra wide band module, and the ultra wide band module is distinguished with installing three ultra wide band beacons of sustained height indoors
Communication, measures three ultra wide band beacons to the distance of robot ultra wide band module, further according to the distance measured, three beacons respectively
Installation site, calculate the position of robot on a certain plane, so as to realize the precise positioning of robot, accurate positioning is extremely
It is 9cm less.Ultra wide band, is a kind of new wireless communication technology, and it passes through to the impulse with very steep rising and falling time
Pulse is directly modulated, and signal is had the bandwidth of GHz magnitudes.Solve the relevant propagation of puzzlement conventional wireless techniques for many years
The great difficult problem of aspect, with to channel fading is insensitive, transmission signal power spectral density is low, low interception capability, system complex
The advantages of spending positioning precision low, that several centimeters can be provided.
The beneficial effects of the invention are as follows can realize robot precise positioning, accurate positioning is at least 9cm, substantially meeting needs
Ask.
Brief description of the drawings
The present invention is further described with implementation below in conjunction with the accompanying drawings.Fig. 1 is the schematic diagram of the present invention.
In Fig. 1, R is robot ultra wide band module, and P1 is ultra wide band beacon, and P2 is ultra wide band beacon, and P3 takes a message for ultra-wide
Mark, h is vertical ranges of the robot ultra wide band module R to ultra wide band beacon P1, P2, P3 plane constituted, and L1 is super for robot
Wideband module R to ultra wide band beacon P1 distance, L2 is robot ultra wide band module R to ultra wide band beacon P2 distance, and L3 is
Robot ultra wide band module R to ultra wide band beacon P3 distance.
Embodiment
In Fig. 1, the robot of indoor positioning is realized based on ultra-broadband ranging, by three ultra wide band beacon P1, P2, P3 and its match somebody with somebody
Set, it is characterized in that：The robot includes a ultra wide band module R, and ultra wide band module R is respectively to three ultra wide band beacons
P1, P2, P3 send radio wave, and three ultra wide band beacons P1, P2, P3 are received after radio wave, send radio wave back to machine
Device people, so as to measure radio wave respectively between robot ultra wide band module R and three ultra wide band beacons P1, P2, P3
Delivery time, it is the light velocity according to the transmission speed of radio wave, robot R can be tried to achieve respectively to ultra wide band beacon P1, P2, P3
Distance respectively L 1, L 2, L 3.
The vertical range of the plane of known robot ultra wide band module R to three ultra wide band beacon P1, P2, P3 composition is
H, it is known that ultra wide band beacon P1, P2, P3 point coordinate be respectively P1 (x1, y1, h), P2 (x2, y2, h), P3 (x3, y3, h)
, the coordinate of robot ultra wide band module R points is (x, y, 0), and three equations can be obtained according to Pythagorean theorem：
The coordinate Value Data of ultra wide band module R points can be tried to achieve by above three equation：
Here
。
The above described is only a preferred embodiment of the present invention, not making any formal limitation to the present invention, appoint
How without departing from the present invention program content, any simple modification made according to technical spirit of the invention to above example, etc.
With change and modification, in the range of still falling within technical solution of the present invention.
Claims (2)
1. the robot of indoor positioning is realized based on ultra-broadband ranging, it is supporting with it by three ultra wide band beacons, it is characterized in that：Institute
State robot and include a ultra wide band module, the ultra wide band module and three ultra wide band beacons point for installing sustained height indoors
Do not communicate, three ultra wide band beacons are measured respectively to the distance of robot, further according to the distance measured, the installation position of three beacons
Put, calculate the position of robot on a certain plane.
2. the robot according to claim 1 that indoor positioning is realized based on ultra-broadband ranging, it is characterized in that：Robot surpasses
The calculation formula of the coordinate Value Data of Wideband module on a certain plane is：
Here
Here, the robot ultra wide band module calculated to three ultra wide band beacons P1, P2, P3 distance be respectively L 1, L 2,
L 3, it is known that ultra wide band beacon P1, P2, P3 coordinate be respectively P1 (x1, y1, h), P2 (x2, y2, h), P3 (x3, y3,
H), the coordinate of robot ultra wide band module is (x, y, 0).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710541859.7A CN107085197A (en) | 2017-07-05 | 2017-07-05 | The robot of indoor positioning is realized based on ultra-broadband ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710541859.7A CN107085197A (en) | 2017-07-05 | 2017-07-05 | The robot of indoor positioning is realized based on ultra-broadband ranging |
Publications (1)
| Publication Number | Publication Date |
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| CN107085197A true CN107085197A (en) | 2017-08-22 |
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| CN201710541859.7A Pending CN107085197A (en) | 2017-07-05 | 2017-07-05 | The robot of indoor positioning is realized based on ultra-broadband ranging |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549376A (en) * | 2018-04-16 | 2018-09-18 | 爱啃萝卜机器人技术（深圳）有限责任公司 | A kind of navigation locating method and system based on beacon |
| CN110554418A (en) * | 2019-08-20 | 2019-12-10 | 北京建筑大学 | RTK/UWB combined mapping method and system for satellite signal shielding area |
| CN110865358A (en) * | 2019-12-02 | 2020-03-06 | 上海无线电设备研究所 | Distance measurement method and system |
| CN111239788A (en) * | 2019-04-01 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle autonomous positioning system and method for bridge detection |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN105823477A (en) * | 2016-03-09 | 2016-08-03 | 深圳市国华光电研究院 | RSSR-based LED indoor positioning method and system thereof |
-
2017
- 2017-07-05 CN CN201710541859.7A patent/CN107085197A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203996A (en) * | 2015-09-16 | 2015-12-30 | 上海智臻智能网络科技股份有限公司 | Mobile device and indoor positioning method, system and device as well as anchor nodes thereof |
| CN105823477A (en) * | 2016-03-09 | 2016-08-03 | 深圳市国华光电研究院 | RSSR-based LED indoor positioning method and system thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549376A (en) * | 2018-04-16 | 2018-09-18 | 爱啃萝卜机器人技术（深圳）有限责任公司 | A kind of navigation locating method and system based on beacon |
| CN111239788A (en) * | 2019-04-01 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Unmanned aerial vehicle autonomous positioning system and method for bridge detection |
| CN110554418A (en) * | 2019-08-20 | 2019-12-10 | 北京建筑大学 | RTK/UWB combined mapping method and system for satellite signal shielding area |
| CN110865358A (en) * | 2019-12-02 | 2020-03-06 | 上海无线电设备研究所 | Distance measurement method and system |
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Application publication date: 20170822 |