CN213847024U - Accurate three-dimensional positioning equipment based on UWB technique - Google Patents
Accurate three-dimensional positioning equipment based on UWB technique Download PDFInfo
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- CN213847024U CN213847024U CN202022155654.5U CN202022155654U CN213847024U CN 213847024 U CN213847024 U CN 213847024U CN 202022155654 U CN202022155654 U CN 202022155654U CN 213847024 U CN213847024 U CN 213847024U
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Abstract
The utility model discloses an accurate three-dimensional positioning device based on UWB technology, comprising a UWB host, a positioning system and a display module, wherein the input end of the UWB host is connected with the positioning system, and the output end of the UWB host is connected with the display module; the positioning system comprises a three-dimensional coordinate system building module and a three-dimensional coordinate positioning module, wherein the three-dimensional coordinate system building module is connected with the three-dimensional coordinate positioning module; the three-dimensional coordinate positioning module comprises a positioning point distance measuring unit, a positioning point angle measuring unit and a positioning point coordinate calculating unit. The utility model discloses utilize three-dimensional coordinate system to construct the module and construct three-dimensional finger teaching coordinate system to be used for measuring the distance l between setpoint and the reference distant point o through setpoint distance measurement unit, setpoint angle measurement unit is used for measuring the angle between distance l and x axle, y axle, the z axle, and setpoint coordinate calculation unit is used for calculating the coordinate value of setpoint according to distance l and each angle, carries out the accurate positioning to the setpoint.
Description
Technical Field
The utility model relates to a UWB technical field specifically is an accurate three-dimensional positioning equipment based on UWB technique.
Background
UWB is an unloaded communication technology, and data is transmitted by using nanosecond to microsecond non-sinusoidal narrow pulses, which is substantially different from the wireless broadband mode of the conventional narrow-band system. In the UWB positioning process, a specific position of a reference tag is determined, then position information of the UWB tag carried by a target relative to the reference tag is obtained through receivers installed around the network and is finally transmitted to a host.
Therefore, in view of the above situation, there is an urgent need to develop an accurate three-dimensional positioning device based on UWB technology to overcome the shortcomings in the current practical application.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an accurate three-dimensional positioning equipment based on UWB technique to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
an accurate three-dimensional positioning device based on UWB technology comprises a UWB host, a positioning system and a display module, wherein the input end of the UWB host is connected with the positioning system, and the output end of the UWB host is connected with the display module;
the positioning system comprises a three-dimensional coordinate system building module and a three-dimensional coordinate positioning module, wherein the three-dimensional coordinate system building module is connected with the three-dimensional coordinate positioning module;
the three-dimensional coordinate positioning module comprises a positioning point distance measuring unit, a positioning point angle measuring unit and a positioning point coordinate calculating unit, and the positioning point distance measuring unit, the positioning point angle measuring unit and the positioning point coordinate calculating unit are sequentially connected.
As a further aspect of the present invention: the UWB host comprises a UWB signal transmitter, a UWB signal receiver, a signal processor and a signal transceiver, wherein the UWB signal transmitter is connected with the UWB signal receiver, the UWB signal receiver is connected with the signal processor, and the UWB signal transmitter, the UWB signal receiver and the signal processor are all connected with the signal transceiver.
As a further aspect of the present invention: the UWB host also comprises a storage unit and a power supply module, wherein the storage unit is connected with the signal transceiver.
As a further aspect of the present invention: the three-dimensional coordinate system building module comprises a UWB base station placing unit, a coordinate axis defining unit and a coordinate system building unit, wherein the UWB base station placing unit comprises a plurality of base station columns A formed by placing UWB base stations along a transverse axis, a plurality of base station columns B formed by placing UWB base stations along a vertical axis, and a plurality of base station columns C formed by placing UWB base stations along a longitudinal axis, the base station columns A, the base station columns B and the base station columns C are orthogonal in pairs, the base station columns A are x-axis, the base station columns B are y-axis, the base station columns C are z-axis, and the intersection points of the base station columns A, B and C are reference origin points o.
As a further aspect of the present invention: the UWB host is also connected with a mobile control terminal, and the mobile control terminal is in wireless connection with the UWB host.
As a further aspect of the present invention: the UWB host is also connected with a motion track estimation module, and the motion track estimation module comprises a motion distance recording unit, a time recording unit, an acceleration calculation unit and a motion track estimation unit which are sequentially connected.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses utilize three-dimensional coordinate system to construct the module and construct three-dimensional finger teaching coordinate system to be used for measuring the distance l between setpoint and the reference distant point o through setpoint distance measurement unit, setpoint angle measurement unit is used for measuring the angle between distance l and x axle, y axle, the z axle, and setpoint coordinate calculation unit is used for calculating the coordinate value of setpoint according to distance l and each angle, carries out the accurate positioning to the setpoint.
Drawings
Fig. 1 is a block diagram of a precise three-dimensional positioning device based on UWB technology.
Fig. 2 is a block diagram of a UWB host in a precision three-dimensional positioning device based on UWB technology.
Fig. 3 is a structural block diagram of a three-dimensional coordinate system building module in the precision three-dimensional positioning device based on the UWB technology.
Fig. 4 is a structural block diagram of a three-dimensional coordinate positioning module in an accurate three-dimensional positioning device based on UWB technology.
Fig. 5 is a block diagram of a motion trajectory estimation module in an accurate three-dimensional positioning device based on UWB technology.
In the figure: the system comprises a 1-UWB host, a 11-UWB signal transmitter, a 12-UWB signal receiver, a 13-signal processor, a 14-signal transceiver, a 15-storage unit, a 16-power module, a 2-three-dimensional coordinate system construction module, a 21-UWB base station placing unit, a 22-coordinate axis definition unit, a 23-coordinate system construction unit, a 3-three-dimensional coordinate positioning module, a 31-positioning point distance measurement unit, a 32-positioning point angle measurement unit, a 33-positioning point coordinate calculation unit, a 4-motion track estimation module, a 41-motion distance recording unit, a 42-time recording unit, a 43-acceleration calculation unit, a 44-motion track estimation unit, a 5-display module and a 6-mobile control terminal.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
Referring to fig. 1-4, in an embodiment of the present invention, an accurate three-dimensional positioning device based on UWB technology includes a UWB host 1, a positioning system and a display module 5, an input end of the UWB host 1 is connected to the positioning system, an output end of the UWB host 1 is connected to the display module 5, the UWB host 1 performs coordinate positioning on a positioning point through the positioning system, and performs coordinate display through the display module 5;
the UWB host 1 comprises a UWB signal emitter 11, a UWB signal receiver 12, a signal processor 13 and a signal transceiver 14, wherein the UWB signal emitter 11 is connected with the UWB signal receiver 12, the UWB signal receiver 12 is connected with the signal processor 13, and the UWB signal emitter 11, the UWB signal receiver 12 and the signal processor 13 are all connected with the signal transceiver 14;
specifically, in this embodiment, the UWB host 1 further includes a storage unit 15 and a power module 16, and the storage unit 15 is connected to the signal transceiver 14;
the positioning system comprises a three-dimensional coordinate system building module 2 and a three-dimensional coordinate positioning module 3, wherein the three-dimensional coordinate system building module 2 is connected with the three-dimensional coordinate positioning module 3, the three-dimensional coordinate system building module 2 is used for building a three-dimensional rectangular coordinate system and a specified reference point in space, and the three-dimensional coordinate positioning module 3 is used for measuring the position of a positioning point, obtaining the coordinate of the positioning point according to the built three-dimensional rectangular coordinate system and positioning the positioning point;
specifically, in this embodiment, the three-dimensional coordinate system building module 2 includes a UWB base station placing unit 21, a coordinate axis defining unit 22, and a coordinate system building unit 23, where the UWB base station placing unit 21 includes a base station row a formed by placing UWB base stations along a horizontal axis, a base station row B formed by placing UWB base stations along a vertical axis, and a base station row C formed by placing UWB base stations along a vertical axis, and the base station row a, the base station row B, and the base station row C are orthogonal to each other; the coordinate axis defining unit 22 defines a base station row a as an x axis, a base station row B as a y axis, and a base station row C as a z axis, and defines an intersection point of the base station row a, the base station row B, and the base station row C as a reference origin o, and the coordinate system constructing unit 23 constructs a three-dimensional teaching coordinate system based on the x axis, the y axis, the z axis, and the origin o;
further, in this embodiment, the three-dimensional coordinate positioning module 3 includes a positioning point distance measuring unit 31, a positioning point angle measuring unit 32, and a positioning point coordinate calculating unit 33, and the positioning point distance measuring unit 31, the positioning point angle measuring unit 32, and the positioning point coordinate calculating unit 33 are connected in sequence;
the positioning point distance measuring unit 31 is used for measuring the distance l between the positioning point and the reference far point o, the positioning point angle measuring unit 32 is used for measuring the angles between the distance l and the x-axis, the y-axis and the z-axis, and the positioning point coordinate calculating unit 33 is used for calculating the coordinate value of the positioning point according to the distance l and each angle and accurately positioning the positioning point;
specifically, in this embodiment, the UWB host 1 is further connected to a mobile control terminal 6, the mobile control terminal 6 is wirelessly connected to the UWB host 1, and the mobile control terminal 6 is used for remotely controlling the UWB host 1 and mastering the position information of the positioning point in real time.
Example 2
Referring to fig. 1-4, in an embodiment of the present invention, an accurate three-dimensional positioning device based on UWB technology includes a UWB host 1, a positioning system and a display module 5, an input end of the UWB host 1 is connected to the positioning system, an output end of the UWB host 1 is connected to the display module 5, the UWB host 1 performs coordinate positioning on a positioning point through the positioning system, and performs coordinate display through the display module 5;
the UWB host 1 comprises a UWB signal emitter 11, a UWB signal receiver 12, a signal processor 13 and a signal transceiver 14, wherein the UWB signal emitter 11 is connected with the UWB signal receiver 12, the UWB signal receiver 12 is connected with the signal processor 13, and the UWB signal emitter 11, the UWB signal receiver 12 and the signal processor 13 are all connected with the signal transceiver 14;
specifically, in this embodiment, the UWB host 1 further includes a storage unit 15 and a power module 16, and the storage unit 15 is connected to the signal transceiver 14;
the positioning system comprises a three-dimensional coordinate system building module 2 and a three-dimensional coordinate positioning module 3, wherein the three-dimensional coordinate system building module 2 is connected with the three-dimensional coordinate positioning module 3, the three-dimensional coordinate system building module 2 is used for building a three-dimensional rectangular coordinate system and a specified reference point in space, and the three-dimensional coordinate positioning module 3 is used for measuring the position of a positioning point, obtaining the coordinate of the positioning point according to the built three-dimensional rectangular coordinate system and positioning the positioning point;
specifically, in this embodiment, the three-dimensional coordinate system building module 2 includes a UWB base station placing unit 21, a coordinate axis defining unit 22, and a coordinate system building unit 23, where the UWB base station placing unit 21 includes a base station row a formed by placing UWB base stations along a horizontal axis, a base station row B formed by placing UWB base stations along a vertical axis, and a base station row C formed by placing UWB base stations along a vertical axis, and the base station row a, the base station row B, and the base station row C are orthogonal to each other; the coordinate axis defining unit 22 defines a base station row a as an x axis, a base station row B as a y axis, and a base station row C as a z axis, and defines an intersection point of the base station row a, the base station row B, and the base station row C as a reference origin o, and the coordinate system constructing unit 23 constructs a three-dimensional teaching coordinate system based on the x axis, the y axis, the z axis, and the origin o;
further, in this embodiment, the three-dimensional coordinate positioning module 3 includes a positioning point distance measuring unit 31, a positioning point angle measuring unit 32, and a positioning point coordinate calculating unit 33, and the positioning point distance measuring unit 31, the positioning point angle measuring unit 32, and the positioning point coordinate calculating unit 33 are connected in sequence;
the positioning point distance measuring unit 31 is used for measuring the distance l between the positioning point and the reference far point o, the positioning point angle measuring unit 32 is used for measuring the angles between the distance l and the x-axis, the y-axis and the z-axis, and the positioning point coordinate calculating unit 33 is used for calculating the coordinate value of the positioning point according to the distance l and each angle and accurately positioning the positioning point;
specifically, in this embodiment, the UWB host 1 is further connected to a mobile control terminal 6, the mobile control terminal 6 is wirelessly connected to the UWB host 1, and the mobile control terminal 6 is used for remotely controlling the UWB host 1 and mastering the position information of the positioning point in real time.
Referring to fig. 5, the difference between the present embodiment and embodiment 1 is:
the UWB host 1 is also connected with a motion track estimation module 4, and the motion track estimation module 4 comprises a motion distance recording unit 41, a time recording unit 42, an acceleration calculation unit 43 and a motion track estimation unit 44 which are connected in sequence;
the movement distance recording unit 41 and the time recording unit 42 are used for recording the movement distance of the positioning point within a certain time, and calculating the acceleration of the positioning point through the acceleration calculating unit 43, so that the movement track of the positioning point is pre-judged through the movement track pre-estimating unit 44, and guidance is provided for the accurate positioning of the positioning point.
The above is only the preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (6)
1. An accurate three-dimensional positioning device based on a UWB technology is characterized by comprising a UWB host (1), a positioning system and a display module (5), wherein the input end of the UWB host (1) is connected with the positioning system, and the output end of the UWB host (1) is connected with the display module (5);
the positioning system comprises a three-dimensional coordinate system building module (2) and a three-dimensional coordinate positioning module (3), wherein the three-dimensional coordinate system building module (2) is connected with the three-dimensional coordinate positioning module (3);
the three-dimensional coordinate positioning module (3) comprises a positioning point distance measuring unit (31), a positioning point angle measuring unit (32) and a positioning point coordinate calculating unit (33), wherein the positioning point distance measuring unit (31), the positioning point angle measuring unit (32) and the positioning point coordinate calculating unit (33) are sequentially connected.
2. The UWB technology based precise three-dimensional positioning device is characterized in that the UWB host (1) comprises a UWB signal transmitter (11), a UWB signal receiver (12), a signal processor (13) and a signal transceiver (14), the UWB signal transmitter (11) is connected with the UWB signal receiver (12), the UWB signal receiver (12) is connected with the signal processor (13), and the UWB signal transmitter (11), the UWB signal receiver (12) and the signal processor (13) are all connected with the signal transceiver (14).
3. An accurate three-dimensional positioning device based on UWB technology according to claim 2, characterized in that the UWB host (1) further comprises a storage unit (15) and a power module (16), and the storage unit (15) is connected with the signal transceiver (14).
4. The UWB technology based precise three-dimensional positioning device according to claim 3, wherein the three-dimensional coordinate system building module (2) comprises a UWB base station placing unit (21), a coordinate axis defining unit (22) and a coordinate system building unit (23), the UWB base station placing unit (21) comprises a base station column A formed by placing a plurality of UWB base stations along a horizontal axis, a base station column B formed by placing a plurality of UWB base stations along a vertical axis, and a base station column C formed by arranging a plurality of UWB base stations along a vertical axis, the base station column A, the base station column B and the base station column C are orthogonal in pairs, the base station column A is an x axis, the base station column B is a y axis, the base station column C is a z axis, and an intersection point of the base station column A, the base station column B and the base station column C is a reference origin o.
5. Accurate three-dimensional positioning equipment based on UWB technology according to claim 1, characterized in that, UWB host (1) is further connected with mobile control terminal (6), mobile control terminal (6) and UWB host (1) are connected wirelessly.
6. The UWB technology based precise three-dimensional positioning device according to any one of claims 1-5, wherein the UWB host (1) is further connected with a motion track estimation module (4), and the motion track estimation module (4) comprises a motion distance recording unit (41), a time recording unit (42), an acceleration calculation unit (43) and a motion track estimation unit (44) which are connected in sequence.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022155654.5U CN213847024U (en) | 2020-09-27 | 2020-09-27 | Accurate three-dimensional positioning equipment based on UWB technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022155654.5U CN213847024U (en) | 2020-09-27 | 2020-09-27 | Accurate three-dimensional positioning equipment based on UWB technique |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114430524A (en) * | 2021-12-30 | 2022-05-03 | 杭州海康威视数字技术股份有限公司 | Ultra-wideband base station calibration method and device and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114430524A (en) * | 2021-12-30 | 2022-05-03 | 杭州海康威视数字技术股份有限公司 | Ultra-wideband base station calibration method and device and electronic equipment |
| CN114430524B (en) * | 2021-12-30 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Calibration method and device of ultra-wideband base station and electronic equipment |
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