CN113692047B - Ultra-wideband rapid positioning method and device and server - Google Patents
Ultra-wideband rapid positioning method and device and server Download PDFInfo
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Abstract
The invention discloses an ultra wide band rapid positioning method and device. The method comprises the following steps: receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance with abnormity; calculating error compensation by adopting a convolutional neural network algorithm, and correcting the abnormal distance according to the error compensation; and calculating the coordinates of the positioning module according to the corrected distance. By applying the method of the embodiment of the invention, the technical scheme utilizes the principle of three-sphere positioning to preliminarily judge the position of the positioning module, then corrects the position and accurately calculates the accurate position of the positioning module, thereby determining the position of the positioning module under the condition of only three positioning base station coordinates, on one hand, the requirement on the number of the positioning base stations is reduced, and on the other hand, when the effective distance value measured by the positioning base stations is less than four due to network delay and the like, the target node can be positioned.
Description
Technical Field
The invention belongs to the technical field of signal processing, and particularly relates to an ultra-wideband rapid positioning method, an ultra-wideband rapid positioning device and a server.
Background
In recent years, with the development of wireless communication technology, indoor positioning technology is applied more widely. The indoor positioning technology has very important significance for application of tunnels, parking lots, warehouses, prisons, hospitals and fire fighting. In the outdoor environment, GPS, beidou and the like are well explored and standardized, but signals of the GPS and the Beidou cannot be separated by the indoor complex environment, so that high-precision positioning cannot be realized in the indoor complex environment. The development of traditional indoor positioning technologies such as ultrasonic waves, infrared rays and Bluetooth for a period of time meets a great bottleneck, and the requirements of users cannot be completely met in the aspects of system cost, stability, positioning accuracy and the like.
The Ultra Wide Band (UWB) technology is a short-range communication technology that uses pulse signals to perform high-speed wireless data transmission, has high transmission rate, low transmission power, simple structure, low cost, strong anti-interference capability and high safety, and has obvious advantages compared with other technologies because UWB equipment has very strong penetration capability, such as walls and the like, and is a preferred technology in the field of indoor positioning nowadays, and is used for detecting that a radar can quickly find people or important objects hidden behind walls or buried in ruins in emergency situations; the WB detection imaging system can be used for improving the safety of the building and home maintenance industries; the accurate positioning service based on the UWB technology has real-time indoor and outdoor accurate tracking capacity, and the positioning accuracy can reach centimeter level. The GPS is well supplemented in the aspect of indoor accurate positioning.
The UWB positioning technology based on the distance measurement mainly calculates the position information of a target node through a positioning algorithm according to the measured distance between a base station and the target node and the position information of a known node. In a conventional positioning algorithm, at least three base stations are required for determining the position of a target node in a plane, and at least four base stations are required for determining the position of a target node in space. In actual positioning, due to the existence of an obstacle (for example, a human body suddenly blocks between the base station and the target node), or due to network transmission delay, and the like, the distance measurement value between the base station and the target node may deviate from the true range seriously in a non-line-of-sight environment, which results in inaccurate node position estimation and incapability of positioning.
Disclosure of Invention
The invention aims to solve the technical problem of accurately positioning a target under the condition that interference information such as obstacles or network delay exists. Aiming at the problems, the invention provides an ultra-wideband quick positioning method, an ultra-wideband quick positioning device and a server.
In a first aspect, the present invention provides an ultra-wideband fast positioning method, which may be applied to an ultra-wideband positioning system, where the ultra-wideband positioning system includes at least three positioning base stations, and the at least three positioning base stations are not collinear, and the ultra-wideband fast positioning method includes:
receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance with abnormality;
calculating error compensation by adopting a convolutional neural network algorithm, and correcting the abnormal distance according to the error compensation;
and calculating the coordinates of the positioning module according to the corrected distance.
According to the embodiment of the present invention, preferably, the receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance in which an abnormality exists includes:
receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station;
determining a threshold range of the distance between a third positioning base station and the positioning module according to the coordinates of any two positioning base stations and the distances from any two positioning base stations to the positioning module;
judging whether the distance between the positioning module and the positioning base station uploaded by the third positioning base station is larger than the maximum value of the threshold range; if the distance between the positioning base station and the positioning module is larger than the preset distance, the distance between the positioning base station and the positioning module uploaded by the third positioning base station is abnormal.
According to the embodiment of the present invention, preferably, determining the threshold range of the distance between the third positioning base station and the positioning module according to the coordinates of any two positioning base stations and the distances from the any two positioning base stations to the positioning module includes:
respectively taking a connecting line between a first positioning base station and the positioning module, a connecting line between a second positioning base station and the positioning module, and a connecting line between the first positioning base station and the second positioning base station as three sides to construct a triangle;
the vertex determined by the positioning module is heightened towards the corresponding side, a first intersection point is generated, then the first intersection point is taken as the center of a circle, and the connecting line of the positioning module and the first intersection point is taken as a radius to make a circle;
making a perpendicular line from a point determined by a third positioning base station to a plane where the circle is located, generating a second intersection point, and then connecting a first intersection point and the second intersection point, wherein a connecting line of the first intersection point and the second intersection point intersects the circle at a third intersection point and a fourth intersection point;
and connecting a third positioning base station with the third intersection point and the fourth intersection point, wherein the distance between the third positioning base station and the third intersection point and the distance between the third positioning base station and the fourth intersection point are respectively a minimum threshold and a maximum threshold of the distance between the third positioning base station and the positioning module.
According to the embodiment of the present invention, preferably, it is determined whether the distance between the positioning module and the third positioning base station uploaded by the third positioning base station is greater than the maximum value of the threshold range; if the distance between the third positioning base station and the positioning module is abnormal, the method comprises the following steps:
judging whether the distance between the third positioning base station and the positioning module is smaller than the maximum value of the threshold range; and if the distance between the third positioning base station and the positioning module is smaller than the threshold value, exchanging the third positioning base station with the first positioning base station or the second positioning base station, and recalculating the threshold value range until the distance between the third positioning base station and the positioning module is larger than the maximum threshold value of the threshold value range.
According to the embodiment of the present invention, preferably, before the server calculates the error compensation by using the convolutional neural network algorithm, the method includes:
and constructing a convolutional neural network model by adopting a convolutional neural network algorithm.
According to the embodiment of the present invention, preferably, the building of the convolutional neural network model by using a convolutional neural network algorithm includes:
collecting a training sample;
training a convolutional neural network model by taking objective factors influencing ranging as characteristic quantities;
wherein the objective factors include at least one of: the average moving speed of the pedestrian, the moving metal object and the obstacle passing by suddenly.
According to the embodiment of the present invention, preferably, correcting the distance at which the abnormality exists according to the error compensation includes:
and replacing the distance between the third positioning base station and the positioning module calculated by adopting a ranging algorithm according to the error compensation value output by the convolutional neural network model.
According to the embodiment of the present invention, preferably, calculating the coordinates of the positioning module according to the corrected distance includes:
calculating the coordinates of the positioning module according to the distances between any two positioning base stations and the positioning module and the corrected distance of the positioning module of the third positioning base station, wherein the calculation formula is as follows:
wherein x represents the abscissa of the positioning module, y represents the ordinate of the positioning module, z represents the ordinate of the positioning module, x 1 Denotes the abscissa, x, of the first of said positioning base stations 2 Representing the abscissa, x, of a second one of said positioning base stations 3 Representing the abscissa, y, of a third one of said positioning stations 1 Representing the ordinate, y, of the first one of said positioning stations 2 Representing the ordinate, y, of a second one of said positioning stations 3 Representing the ordinate, z, of a third one of said positioning base stations 1 Representing the vertical coordinate, z, of the first one of said positioning base stations 2 Representing the vertical coordinate, z, of a second one of said positioning stations 3 Denotes a third of said positioning basesVertical coordinate of the station, L 1 Indicating the distance, L, from the first of said positioning base stations to said positioning module 2 Indicating the distance, L, from a second one of said positioning base stations to said positioning module 3 Representing the corrected distance of a third one of the positioning base stations to the positioning module;
the distance between the positioning base station and the positioning module is calculated by each positioning base station according to the arrival time of the pulse signal by adopting a ranging algorithm.
According to the embodiment of the present invention, preferably, the ranging algorithm includes at least one of the following: one-way ranging method or two-way ranging method.
In a second aspect, the present invention provides an ultra-wideband fast positioning apparatus, which is applied to an ultra-wideband positioning system, and the apparatus includes:
the receiving module is used for determining the distance with abnormality if the distance between each positioning base station and the positioning module uploaded by the positioning base station is received;
the correction module is used for calculating error compensation by adopting a convolutional neural network algorithm and then correcting the abnormal distance according to the error compensation;
and the positioning module is used for calculating the coordinates of the target according to the corrected distance.
In a third aspect, the present invention provides a server comprising an ultra-wideband fast positioning apparatus as described above, for performing the steps of the method as described above.
In a fourth aspect, the present invention provides a positioning base station applied to an ultra-wideband positioning system, which is applied to an ultra-wideband positioning system, the ultra-wideband positioning system includes at least three positioning base stations, a positioning module disposed at a target and used for sending a pulse signal to the positioning base stations, and a location server used for determining the target; the positioning base station includes: the antenna is used for receiving the pulse signal sent by the positioning module; and the processing module is used for calculating the distance between the base station and the positioning module according to the pulse signals.
In a fourth aspect, the present invention provides an ultra-wideband fast positioning system, which includes at least three positioning base stations, a positioning module and a server, wherein the at least three positioning base stations are not collinear, and each positioning base station includes an antenna for receiving a pulse signal and a processing module for calculating a distance between the base station and the positioning module, the positioning module is configured to transmit the pulse signal to the positioning base station, and the server is configured to determine a position of the positioning module.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects: according to the technical scheme of the embodiment of the invention, the abnormal distance is determined by receiving the distance between each positioning base station and the positioning module uploaded by the positioning base station, then the error compensation is calculated by adopting a convolutional neural network algorithm, the abnormal distance is corrected according to the error compensation, and the coordinate of the positioning module is calculated according to the corrected distance. The technical scheme of the embodiment of the invention can be applied to an ultra-wideband positioning system, the ultra-wideband positioning system comprises at least three positioning base stations, a positioning module and a server, wherein the at least three positioning base stations are not collinear, each positioning base station comprises an antenna for receiving a pulse signal and a processing module for calculating the distance between the base station and the positioning module, the positioning module is used for transmitting the pulse signal to the positioning base station, and the server is used for determining the position of the positioning module.
By applying the method of the embodiment of the invention, the technical scheme utilizes the principle of three-sphere positioning to preliminarily judge the position of the positioning module, then corrects the position and accurately calculates the accurate position of the positioning module, thereby determining the position of the positioning module under the condition of only three positioning base station coordinates, on one hand, the requirement on the number of the positioning base stations is reduced, and on the other hand, when the effective distance value measured by the positioning base stations is less than four due to network delay and the like, the target node can be positioned.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 shows a flow chart of an ultra-wideband fast positioning method according to a first embodiment of the present invention;
fig. 2 shows a flow chart of an ultra-wideband fast positioning method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a geometrical principle of calculating a distance between a positioning base station and a positioning module according to a second embodiment of the present invention;
fig. 4 shows a flow chart of an ultra-wideband fast positioning method according to a third embodiment of the present invention;
fig. 5 is a schematic diagram of an ultra-wideband quick positioning device according to a fourth embodiment of the invention;
fig. 6 is a schematic diagram of a framework of a positioning base station according to a fifth embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides an ultra wide band fast positioning method. Fig. 1 shows a flow chart of an ultra-wideband fast positioning method, and referring to fig. 1, the ultra-wideband fast positioning method of the embodiment includes the following steps:
s101, receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance with abnormality.
The method of the embodiment of the invention can be applied to an ultra-wideband positioning system. The ultra-wideband positioning system comprises at least three positioning base stations, a positioning module and a server, wherein the at least three positioning base stations are not collinear, each positioning base station comprises an antenna for receiving a pulse signal and a processing module for calculating the distance from the base station to the positioning module, the positioning module is used for transmitting the pulse signal to the positioning base station, and the server is used for determining the position of the positioning module.
In the embodiment of the invention, the positioning module can be arranged at the target to be positioned, and the coordinate of the positioning module is calculated, so that the coordinate of the target can be obtained. For example, the positioning module is arranged in the wearable device, and when a pedestrian needing positioning wears the wearable device, the pedestrian can be positioned.
By applying the embodiment of the invention, a person wearing the positioning module or any article provided with the positioning module can be positioned when the person is any. For example, a pedestrian wearing a positioning module indoors, a vehicle moving in a factory.
The embodiment of the invention utilizes the principle of three-sphere positioning to calculate the coordinate of the positioning module according to at least the coordinate of the positioning base station and the distance between the positioning base station and the positioning module, but because obstacles may exist between the positioning base station and the positioning module or the distance is interfered by other factors, the measured distance between the positioning base station and the positioning module is not necessarily accurate. If the inaccurate distance is corrected and then calculated according to the corrected distance, the more accurate coordinate of the positioning module can be calculated.
The method for measuring and calculating the distance between the positioning base station and the positioning module in the embodiment of the invention comprises the following steps: and the positioning base station receives the pulse signal of the positioning module and calculates the distance between the positioning base station and the positioning module according to the speed and the arrival time of the pulse signal.
In order to obtain the distance with the abnormality, it may be assumed that the distance measured by the two positioning base stations is an accurate distance, and the coordinates of the positioning module are determined preliminarily, and then a threshold range of the distance between the third positioning base station and the positioning module is calculated according to the coordinates of the two positioning base stations and the positioning module, and then it is determined whether the distance measured by the third positioning base station is within the threshold range, and if not, it is determined that the distance sent by the third positioning base station is not an accurate distance. Similarly, the first positioning base station and the third positioning base station are exchanged, and the threshold range of the distance between the first positioning base station and the positioning module is determined according to the coordinates of the second positioning base station, the third positioning base station and the positioning module, so as to judge whether the distance between the first positioning base station and the positioning module is the accurate distance. By analogy, whether the distance between the second positioning base station and the positioning module is the accurate distance can be judged.
S102, calculating error compensation by adopting a convolutional neural network algorithm, and correcting the abnormal distance according to the error compensation.
The embodiment of the invention can adopt a convolutional neural network algorithm to construct a convolutional neural network model, and then the convolutional neural network model outputs error compensation to compensate the abnormal distance. In other embodiments, conventional deep learning algorithms may also be employed to calculate error compensation.
The error compensation output by the model may be a distance value from the third positioning base station to the positioning model, and at this time, the distance value output by the model may directly replace the distance from the third positioning base station to the positioning model, and then the coordinates of the positioning module are calculated. In other embodiments, the output error compensation is a correction value, that is, the calculated distance from the third positioning base station to the positioning model and the error compensation are subjected to simple operations such as addition or subtraction, so as to obtain a corrected distance value.
And S103, calculating the coordinates of the positioning module according to the corrected distance.
How the coordinates of the positioning module are calculated according to geometric principles will be described in detail hereinafter.
According to the embodiment of the invention, when the distance measurement value of a certain base station has a very large error and cannot be positioned, the reasonable range of the distance value can be provided, so that the distance measurement value is subjected to proper error compensation, and the coordinate of the target node is obtained.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects: according to the technical scheme of the embodiment of the invention, the abnormal distance is determined by receiving the distance between each positioning base station and the positioning module uploaded by the positioning base station, then the error compensation is calculated by adopting a convolutional neural network algorithm, the abnormal distance is corrected according to the error compensation, and the coordinate of the positioning module is calculated according to the corrected distance. The technical scheme of the embodiment of the invention can be applied to an ultra-wideband positioning system, the ultra-wideband positioning system comprises at least three positioning base stations, a positioning module and a server, wherein the at least three positioning base stations are not collinear, each positioning base station comprises an antenna for receiving a pulse signal and a processing module for calculating the distance between the base station and the positioning module, the positioning module is used for transmitting the pulse signal to the positioning base station, and the server is used for determining the position of the positioning module.
By applying the method of the embodiment of the invention, the technical scheme utilizes the principle of three-sphere positioning to preliminarily judge the position of the positioning module, then corrects the position and accurately calculates the accurate position of the positioning module, thereby determining the position of the positioning module under the condition of only three positioning base station coordinates, on one hand, the requirement on the number of the positioning base stations is reduced, and on the other hand, when the effective distance value measured by the positioning base stations is less than four due to network delay and the like, the target node can be positioned.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention introduces an ultra wide band fast positioning method in more detail. Fig. 2 shows a flowchart of the ultra-wideband fast positioning method, and referring to fig. 2, the ultra-wideband fast positioning method of this embodiment includes:
s201, receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station.
In this embodiment, at least three positioning base stations are arranged indoors, the three positioning base stations are not collinear, the positioning base station is configured to receive a UWB pulse signal, calculate a distance between the positioning base station and the positioning module according to a speed and an arrival time of the UWB pulse signal, and then send the calculated distance to a server, which may specifically refer to the description of the first embodiment.
S202, according to the coordinates of any two positioning base stations and the distances from any two positioning base stations to the positioning module, determining the threshold range of the distance between the third positioning base station and the positioning module.
Wherein, step S203 includes: c, respectively constructing a triangle by taking a connecting line between the first positioning base station and the positioning module, a connecting line between the second positioning base station and the positioning module, and a connecting line between the first positioning base station and the second positioning base station as three sides; d, the vertex determined by the positioning module is heightened towards the corresponding edge, a first intersection point is generated, then the first intersection point is taken as the center of a circle, and the connecting line of the positioning module and the first intersection point is taken as a radius to make a circle; e, drawing a perpendicular line from a point determined by a third positioning base station to the plane where the circle is located, generating a second intersection point, and then connecting a first intersection point and the second intersection point, wherein the line connecting the first intersection point and the second intersection point intersects with the circle at a third intersection point and a fourth intersection point; and F, connecting a third positioning base station with the third intersection point and the fourth intersection point, wherein the distance between the third positioning base station and the third intersection point and the distance between the third positioning base station and the fourth intersection point are respectively the minimum threshold and the maximum threshold of the distance between the third positioning base station and the positioning module.
As shown in fig. 3, point B 1 、B 2 、B 3 Respectively representing a first base station, a second base station and a third base station, and point P represents a positioning module.
At point B 1 、B 2 Constructing a triangle by taking the point P as a vertex and then leading the point P to the opposite side B 1 B 2 And (5) making vertical line segments, wherein the intersection point is H. Then, a circle is made with the HP as the radius and the H point as the center. From point B 3 And (4) making a perpendicular line to the plane where the circle is located, wherein the intersection point is E. The connecting point E is connected with the circle center H, and the connecting line is intersected with the circle at the point M and the point N. Connection point B 3 Connecting with point M and point N, then connecting with line B 3 M and B 3 The length of N is the minimum threshold and the maximum threshold of the distance from the third base station to the positioning module, i.e. d _ min and d _ max.
In the embodiment of the invention, the positions of the three positioning base stations are the same, as long as the three base stations are not collinear, no special requirement is required for the positions of the three base stations, and any two positioning base stations and the positioning module can be selected to determine the threshold range of the distance between the third base station and the positioning module.
S203, judging whether the distance between the positioning module and the positioning base station uploaded by the third positioning base station is larger than the maximum value of the threshold range; if yes, executing step S204; otherwise, step S206 is executed.
In general, in a non-line-of-sight environment, since the propagation path of the pulse signal needs to bypass an obstacle, the estimated value of the distance from the positioning base station to the positioning module may be much larger than the actual value. That is, if the third positioning base station calculates the distance L from the positioning module 3 If the measured value is larger than d _ max, the measured value is abnormal. If the distance between the third positioning base station and the positioning module is measured to obtain a value L 3 If the distance is less than d _ min, the other two base stations are possibly abnormal, and the exchange base station repeats the steps until a ranging value with non-line-of-sight propagation is found. In other words, the purpose of this step is to find a base station whose estimated value of the distance from the positioning module is greater than d _ max, in order to correct this distance.
It will be appreciated by those skilled in the art that if the range values are subject to large errors, typically due to obstructions interfering with the propagation path,the actual propagation path is no longer a straight-line distance between two points. The actually measured distance value will be larger than the true distance value. When the distance L is 3 If the distance is larger than d _ max, the distance is proved to be larger, and the abnormity of the ranging value is reflected. Conversely, when the distance d is smaller than d _ min, according to the previous analysis, the calculated distance value is only larger than the actual distance, so that the calculated distance value of d _ min is larger, and therefore, the distance between the first base station and the second base station has a large error, thereby causing the calculated distance d _ min to be larger.
And S204, calculating error compensation by adopting a convolutional neural network algorithm, and correcting the abnormal distance according to the error compensation.
S205, calculating the coordinate of the positioning module according to the coordinate of each positioning base station and the distance between each positioning base station and the positioning module.
Continuing with FIG. 3, point B is set 1 Has the coordinates of (x) 1 ，y 1 ，z 1 ) Point B of 2 Has the coordinates of (x) 2 ，y 2 ，z 2 ) Point B of 3 Has the coordinates of (x) 3 ，y 3 ，z 3 ) The coordinates of the point P are (x, y, z). Point B 1 Distance L from point P 1 Point B 2 Distance L to point P 2 Point B of 3 Corrected distance to point P is L 3 。
The coordinate calculation formula of the point P is as follows:
wherein x represents the abscissa of the positioning module and y represents the positioning moduleThe ordinate of the block, z represents the vertical coordinate of the positioning module, x 1 Denotes the abscissa, x, of the first of said positioning base stations 2 Representing the abscissa, x, of a second one of said positioning base stations 3 Representing the abscissa, y, of a third one of said positioning stations 1 Representing the ordinate, y, of the first one of said positioning stations 2 Representing the ordinate, y, of a second one of said positioning stations 3 Representing the ordinate, z, of a third one of said positioning base stations 1 Representing the vertical coordinate, z, of a third one of said positioning stations 2 Representing the vertical coordinate, z, of a third one of said positioning stations 3 Representing the vertical co-ordinate, L, of a third one of said positioning stations 1 Indicating the distance, L, from the first of said positioning base stations to said positioning module 2 Indicating the distance, L, from the first of said positioning base stations to said positioning module 3 Representing the distance from a first one of the positioning base stations to the positioning module;
and the distance between the positioning base station and the positioning module is calculated by each positioning base station according to the time of the received pulse signal by adopting a ranging algorithm.
Notably, due to interference from obstacles and other factors, in this case, L 1 、L 2 And L 3 There may be an abnormal distance value. Therefore, the coordinates (x, y, z) of the P point calculated here are preliminarily estimated coordinates, are also inaccurate, and need to be corrected.
Wherein the ranging algorithm comprises at least one of: one-way ranging or two-way ranging.
Among them, the one-way ranging method is a common ranging method. For example, assuming that the clocks of device A and device B are perfectly synchronized, device A is at t 1 At a time instant, a pulse signal is sent to the device B, which is at t 2 When the pulse signal is received at the moment, the arrival time of the pulse signal from the device A to the device B is (t) 2 -t 1 ) The distance s between the device a and the device B can be obtained by multiplying the time by the electromagnetic wave velocity v.
The two-way ranging method does not require clock synchronization between the device a and the device B, for example, the device a sends a pulse signal to the device B, and the device B sends a feedback signal to the device a after a certain response time after receiving the pulse signal. And subtracting the response time of the device B and dividing by 2 from the time when the device A sends the pulse signal to the time when the device A receives the feedback signal, namely the arrival time of the pulse signal from the device A to the device B, and multiplying the time by the electromagnetic wave speed to obtain the distance from the device A to the device B.
For the embodiment of the invention, the positioning base station is equivalent to the equipment A, the positioning module is equivalent to the equipment B, and the distance between the positioning base station and the positioning module can be measured according to the algorithm.
The embodiment of the invention can also adopt other distance measurement algorithms, and the effect of the embodiment of the invention can be realized as long as the distance between the positioning base station and the positioning module can be measured and calculated.
Finding out abnormal distance measurement value L according to the steps 3 Then, the distance L to the abnormality is required 3 Error compensation is carried out, namely error compensation d _ i can be calculated according to a convolution neural network algorithm in the prior art, and the error compensation value should be [ d _ min, d _ max ]]Within range, let L 3 And = d _ i, and then calculating according to the formula (1) to obtain the coordinates of the positioning module.
S206, exchanging the third positioning base station with the first positioning base station or the second positioning base station, and returning to execute step S203 until the distance from the third positioning base station to the positioning module is greater than the maximum threshold of the threshold range.
The purpose of the exchange base station repeating the above steps here is to find L larger than d _ max 3 Need to be on L 3 And (6) carrying out correction. If L is 3 If the d _ min is less than the d _ min, the exchange base station needs to continuously search. The error compensation proposed in this embodiment is to solve the problem that the coordinate cannot be solved by the commonly used three-point positioning formula, in this case, there must be one L 3 The normal value range is not satisfied.
Of course, there is also a case that the measurement values are not interfered actually, that is, the measurement values from the at least three positioning base stations to the positioning module are accurate values, and then the coordinates of the positioning module can be directly calculated according to the formula (1). That is, in step S201 of the embodiment of the present invention, the distance between the positioning base station and the positioning module uploaded by each positioning base station is received, and if the coordinate of the positioning module can be calculated by using formula (1), it is proved that the measurement and calculation value may be accurate, and the measurement and calculation value may be used to determine the coordinate of the positioning module. If the calculated result is no solution, the inaccurate measured value exists in the measured value, the steps of the embodiment of the invention are used for correcting, and then the coordinates of the leap module are calculated according to the corrected distance.
Although there is an error in the measured value of the actual distance, such an error does not generally affect the calculation of the threshold range and does not need to be considered.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects: according to the technical scheme of the embodiment of the invention, the threshold range of the distance between the third positioning base station and the positioning module is determined according to the coordinates of any two positioning base stations and the coordinates of the positioning module, whether the distance between the third positioning base station and the positioning module is larger than the maximum value of the threshold range is cut off, so that the distance value of the abnormal third positioning base station is found out, then the abnormal distance value is corrected, and the accurate position of the positioning module is determined according to the more accurate distance values of the three positioning base stations, so that the position of the positioning module is determined under the condition of only the coordinates of the three positioning base stations, on one hand, the requirement on the number of the positioning base stations is reduced, and on the other hand, when the effective distance values measured by the positioning base stations are less than four due to network delay and the like, the target node can be positioned.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention introduces an ultra wide band fast positioning method in more detail. Fig. 4 shows a flowchart of the ultra-wideband fast positioning method, and referring to fig. 4, the ultra-wideband fast positioning method of the embodiment includes:
s301, receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance with abnormality.
S302, a convolutional neural network model is constructed by adopting a convolutional neural network algorithm.
Wherein the step S302 includes: a, collecting a training sample; b, training a convolutional neural network model by taking objective factors influencing ranging as characteristic quantities; wherein the objective factors include at least one of: the average moving speed of the pedestrian, the moving metal object and the obstacle passing by suddenly.
In the implementation, when the distance between the positioning base station and the positioning module is measured, the interference mainly comes from dynamic obstacles that cannot be estimated in the actual environment, such as pedestrians passing suddenly or forklifts (similar to metal objects) passing suddenly in the working environment. The factors that may affect the distance measurement are the number of obstacles, denoted as F 1 Barrier material property (e.g. person or metal object) F 2 Average moving speed F of obstacle 3 . The above factors can be used as characteristic quantities to construct a convolutional neural network model.
Collecting training samples, and collecting F 1 、F 2 、F 3 And constructing an input matrix for characteristic dimensionality, wherein a value output by the convolutional neural network model is a distance d between the positioning base station and the positioning module, and calculating the coordinate of the positioning module according to the distance value d. The effect of convolutional neural network model training will refer to two dimensions, the first dimension being: d _ min and d _ max calculated in step S203 are used as references. Under normal conditions, the distance value d output by the convolutional neural network model should be between d _ min and d _ max. The second dimension is: the actual coordinates of the target (i.e., the positioning module) are [ X, Y, Z [ ]]According to the distance value d output by the convolutional neural network model, the coordinates obtained by calculation are [ X _ c, Y _ c.Z _ c ]]And feeding back the characteristic quantity and the corresponding weight of the regulation model according to the error values of the two coordinates, and feeding back the parameters of the regulation model at the same time, thereby finally training a proper model.
It will be appreciated by those skilled in the art that in actually training a convolutional neural network model, the factors affecting the model are not limited to the three factors listed above, nor to a particular class, and are not limited to convolutional neural network models. In actual implementation, the thinking of relevant characteristic quantity factors can be selected according to an actual application scene, and the characteristic quantities selected in the actual model building are all regarded as part of the logic thinking implemented by the invention; compared with the conventional deep learning method, the modeling can be theoretically completed, and the same technical effect is achieved.
And S303, replacing the distance between the third positioning base station and the positioning module calculated by adopting a ranging algorithm according to the error compensation value output by the convolutional neural network model.
Because the value output by the convolutional neural network model is the distance from the third positioning base station to the positioning module, the value output by the convolutional neural network model can be used as the distance value from the third positioning base station to the positioning module, and then the coordinate of the positioning module is calculated according to the formula (1).
S304, calculating the coordinate of the positioning module according to the distance between the first positioning base station and the positioning module, the distance between the second positioning base station and the positioning module and the corrected distance between the third positioning base station and the positioning module.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects: according to the technical scheme of the embodiment of the invention, a convolutional neural network model is constructed, the value output by the model is the distance value from the third base station to the positioning module, and then the corrected coordinates of the positioning module are calculated according to the distance value and the distance values from the other two positioning base stations to the positioning module.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention also provides an ultra-wideband quick positioning device. Fig. 5 shows a block diagram of an ultra-wideband quick locating device 50. Referring to fig. 5, the ultra-wideband quick positioning device 50 of the present embodiment includes:
a receiving module 501, configured to determine, if a distance from each positioning base station to a positioning module uploaded by the positioning base station is received, an abnormal distance exists therein;
a correction module 502, configured to calculate error compensation by using a convolutional neural network algorithm, and then correct the distance with the abnormality according to the error compensation;
and a positioning module 503, configured to calculate coordinates of the target according to the corrected distance.
The ultra-wideband fast positioning device of this embodiment and the ultra-wideband fast positioning method of the first embodiment adopt the receiving module, the correcting module, and the positioning module to calculate the distance between at least three positioning base stations and the positioning module, determine a positioning base station with an abnormal distance, correct the distance, and finally calculate an accurate distance value of the positioning module.
EXAMPLE five
In order to solve the technical problems in the prior art, the embodiment of the invention also provides an ultra-wideband quick positioning system. The server comprises the ultra-wideband quick positioning device according to the fourth embodiment and is used for executing the steps of the method according to the first to third embodiments.
Example six
In order to solve the above technical problems in the prior art, an embodiment of the present invention further provides a positioning base station 60 applied to an ultra-wideband positioning system. Fig. 6 shows a block diagram of a positioning base station 60 applied to an ultra-wideband positioning system, and referring to fig. 6, a positioning base station applied to an ultra-wideband positioning system of the embodiment includes: an antenna 601 for receiving the pulse signal sent by the positioning module; and a processing module 602 for calculating the distance between the base station and the positioning module according to the pulse signal.
The positioning base station can be applied to an ultra-wideband positioning system, and the ultra-wideband positioning system comprises at least three positioning base stations, a positioning module and a position server, wherein the positioning module is arranged at a target and used for sending pulse signals to the positioning base stations, and the position server is used for determining the target.
The positioning base station applied to the ultra-wideband positioning system of the embodiment can receive the pulse signal sent by the positioning module, calculate the distance between the positioning base station and the positioning module by adopting a ranging algorithm, and then send the distance to the server, so that the server calculates the coordinate of the positioning module according to the coordinate of the positioning base station and the distance between the positioning base station and the positioning module.
EXAMPLE seven
In order to solve the technical problems in the prior art, the embodiment of the invention also provides an ultra-wideband quick positioning system. The ultra-wideband positioning system comprises at least three positioning base stations, a positioning module and a server, wherein the at least three positioning base stations are not collinear, each positioning base station comprises an antenna for receiving a pulse signal and a processing module for calculating the distance from the base station to the positioning module, the positioning module is used for transmitting the pulse signal to the positioning base station, and the server is used for determining the position of the positioning module.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An ultra-wideband quick positioning method is applied to an ultra-wideband positioning system, the ultra-wideband positioning system comprises at least three positioning base stations, and the at least three positioning base stations are not collinear, and the ultra-wideband quick positioning method is characterized by comprising the following steps:
receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station, and determining the distance with abnormity; the method comprises the following steps:
receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station;
determining a threshold range of the distance between a third positioning base station and the positioning module according to the coordinates of any two positioning base stations and the distances from any two positioning base stations to the positioning module;
judging whether the distance between the positioning module and the positioning base station uploaded by the third positioning base station is larger than the maximum value of the threshold range; if the distance between the positioning base station and the positioning module is larger than the preset distance, the distance between the positioning base station and the positioning module uploaded by the third positioning base station is abnormal;
calculating error compensation by adopting a convolutional neural network algorithm, and correcting the abnormal distance according to the error compensation; the correcting the distance at which the abnormality exists according to the error compensation includes: replacing the distance between the third positioning base station and the positioning module calculated by adopting a ranging algorithm according to the error compensation value output by the convolutional neural network model;
calculating the coordinate of the positioning module according to the corrected distance;
the determining, according to the coordinates of any two of the positioning base stations and the distances from the any two positioning base stations to the positioning module, a threshold range of the distance between a third one of the positioning base stations and the positioning module includes:
respectively taking a connecting line between a first positioning base station and the positioning module, a connecting line between a second positioning base station and the positioning module, and a connecting line between the first positioning base station and the second positioning base station as three sides to construct a triangle;
the vertex determined by the positioning module is heightened towards the corresponding side, a first intersection point is generated, then the first intersection point is taken as the center of a circle, and the connecting line of the positioning module and the first intersection point is taken as the radius to make a circle;
making a perpendicular line from a point determined by a third positioning base station to a plane where the circle is located, generating a second intersection point, and then connecting a first intersection point and the second intersection point, wherein a connecting line of the first intersection point and the second intersection point intersects the circle at a third intersection point and a fourth intersection point;
connecting a third positioning base station with the third intersection point and the fourth intersection point, wherein the distance between the third positioning base station and the third intersection point and the fourth intersection point is respectively the minimum threshold and the maximum threshold of the distance between the third positioning base station and the positioning module;
before the error compensation is calculated by adopting the convolutional neural network algorithm, the method comprises the following steps: adopting a convolutional neural network algorithm to construct a convolutional neural network model;
the method for constructing the convolutional neural network model by adopting the convolutional neural network algorithm comprises the following steps:
collecting training samples;
training a convolutional neural network model by taking objective factors influencing ranging as characteristic quantities;
wherein the objective factors include at least one of: the average moving speed of the pedestrian, the moving metal object and the obstacle passing by suddenly.
2. The method of claim 1, wherein it is determined whether a distance between a third positioning base station uploaded by the positioning base station and the positioning module is greater than a maximum value of the threshold range; if yes, the distance between the positioning module and the positioning base station uploaded by the third positioning base station is abnormal, and the method comprises the following steps:
judging whether the distance between a third positioning base station and the positioning module is smaller than the maximum value of the threshold range or not; and if the distance between the third positioning base station and the positioning module is smaller than the threshold value, exchanging the third positioning base station with the first positioning base station or the second positioning base station, and recalculating the threshold value range until the distance between the third positioning base station and the positioning module is larger than the maximum threshold value of the threshold value range.
3. The method of claim 1, wherein calculating coordinates of the positioning module based on the corrected distance comprises:
calculating the coordinates of the positioning module according to the distance between any two positioning base stations and the positioning module and the corrected distance of the positioning module of the third positioning base station, wherein the calculation formula is as follows:
wherein x represents an abscissa of the positioning module, y represents an ordinate of the positioning module, z represents a vertical coordinate of the positioning module, x1 represents an abscissa of a first one of the positioning base stations, x2 represents an abscissa of a second one of the positioning base stations, x3 represents an abscissa of a third one of the positioning base stations, y1 represents an ordinate of the first one of the positioning base stations, y2 represents an ordinate of the second one of the positioning base stations, y3 represents an ordinate of the third one of the positioning base stations, z1 represents a vertical coordinate of the first one of the positioning base stations, z2 represents a vertical coordinate of the second one of the positioning base stations, z3 represents a vertical coordinate of the third one of the positioning base stations, L1 represents a distance from the first one of the positioning base stations to the positioning module, L2 represents a distance from the second one of the positioning base stations to the positioning module, and L3 represents a corrected distance from the third one of the positioning base stations to the positioning module;
the distance between the positioning base station and the positioning module is calculated by each positioning base station according to the arrival time of the pulse signal by adopting a ranging algorithm.
4. The method of claim 3, wherein the ranging algorithm comprises at least one of: one-way ranging or two-way ranging.
5. An ultra-wideband quick positioning device applied to an ultra-wideband positioning system, which is characterized by comprising:
the receiving module is used for determining the abnormal distance if the distance between each positioning base station uploaded by the positioning base station and the positioning module is received; receiving the distance between the positioning base station and the positioning module uploaded by each positioning base station; determining a threshold range of a distance between a third positioning base station and the positioning module according to the coordinates of any two positioning base stations and the distances from any two positioning base stations to the positioning module; judging whether the distance between the positioning module and the positioning base station uploaded by the third positioning base station is larger than the maximum value of the threshold range; if the distance between the positioning base station and the positioning module is larger than the preset distance, the distance between the positioning base station and the positioning module uploaded by the third positioning base station is abnormal;
the correction module is used for calculating error compensation by adopting a convolutional neural network algorithm and then correcting the abnormal distance according to the error compensation; the correcting the distance at which the abnormality exists according to the error compensation includes: replacing the distance between the third positioning base station and the positioning module calculated by adopting a ranging algorithm according to the error compensation value output by the convolutional neural network model
The positioning module is used for calculating the coordinates of the target according to the corrected distance;
the determining, according to the coordinates of any two of the positioning base stations and the distances from the any two positioning base stations to the positioning module, a threshold range of the distance between a third one of the positioning base stations and the positioning module includes:
respectively taking a connecting line between a first positioning base station and the positioning module, a connecting line between a second positioning base station and the positioning module, and a connecting line between the first positioning base station and the second positioning base station as three sides to construct a triangle;
the vertex determined by the positioning module is heightened towards the corresponding side, a first intersection point is generated, then the first intersection point is taken as the center of a circle, and the connecting line of the positioning module and the first intersection point is taken as a radius to make a circle;
drawing a perpendicular line from a point determined by a third positioning base station to a plane where the circle is located, generating a second intersection point, and then connecting a first intersection point and the second intersection point, wherein a connecting line of the first intersection point and the second intersection point intersects with the circle at a third intersection point and a fourth intersection point;
connecting a third positioning base station with the third intersection point and the fourth intersection point, wherein the distance between the third positioning base station and the third intersection point and the distance between the third positioning base station and the fourth intersection point are respectively a minimum threshold and a maximum threshold of the distance between the third positioning base station and the positioning module;
before the error compensation is calculated by adopting the convolutional neural network algorithm, the method comprises the following steps: adopting a convolutional neural network algorithm to construct a convolutional neural network model;
the method for constructing the convolutional neural network model by adopting the convolutional neural network algorithm comprises the following steps:
collecting a training sample;
training a convolutional neural network model by taking objective factors influencing ranging as characteristic quantities;
wherein the objective factors include at least one of: the average moving speed of the pedestrian, the moving metal object and the obstacle passing by suddenly.
6. A server, characterized in that it comprises an ultra-wideband fast positioning device according to claim 5, for performing the steps of the method according to any one of claims 1 to 4.
7. A positioning base station for an ultra-wideband positioning system, the ultra-wideband positioning system comprising at least three positioning base stations, a positioning module disposed at an object and configured to transmit a pulse signal to the positioning base stations, and a location server configured to determine the object, wherein the server is the server of claim 6; wherein said positioning base station comprises: the antenna is used for receiving the pulse signal sent by the positioning module; and the processing module is used for calculating the distance between the base station and the positioning module according to the pulse signals.
8. An ultra-wideband rapid location system, comprising at least three location bases, a location module and a server, wherein the server is the server of claim 6, the at least three location bases are not collinear, and each location base comprises an antenna for receiving a pulse signal and a processing module for calculating a distance between the base and the location module, the location module is configured to transmit the pulse signal to the location base, and the server is configured to determine a location of the location module.
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