CN108474859A

CN108474859A - Positioning system and its construction method

Info

Publication number: CN108474859A
Application number: CN201780005576.9A
Authority: CN
Inventors: 黄水长; 苏凤宇
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2017-08-15
Filing date: 2017-08-15
Publication date: 2018-08-31
Anticipated expiration: 2037-08-15
Also published as: CN108474859B; WO2019033282A1

Abstract

A positioning system and a construction method thereof are provided, the positioning system comprises: the positioning system comprises base stations (200) and positioning equipment (300) which can be movably arranged, wherein the positions of any three base stations (200) in at least four base stations are not collinear; each base station (200) is capable of acquiring first distance information between the base station and other base stations (200); the positioning equipment (300) is arranged at least two calibration positions and can acquire second distance information between each calibration position and any three base stations (200); the base stations (200) establish a relative coordinate system, and transformation parameters between the relative coordinate system and the fixed coordinate system are calculated according to first distance information among the base stations (200), second distance information among the calibration positions and any three base stations (200) and absolute coordinates of the calibration positions under a preset fixed coordinate system. The absolute coordinates of a plurality of calibration positions where the absolute coordinates are easy to measure are obtained, so that the erection process is simplified, and the erection time is shortened.

Description

Positioning system and construction method thereof

Technical Field

The invention relates to the field of positioning systems, in particular to a positioning system and a construction method thereof.

Background

The GPS (Global Positioning System) is a mainstream Positioning technology at present, and is a navigation System combining satellites and wireless technologies to provide accurate Positioning for users. The user can conveniently acquire positioning information by using the GPS in the area where the satellite signal can be received. However, in an indoor environment, GPS signals may not be received well due to obstruction of buildings, and therefore, positioning cannot be performed by using GPS, and a dedicated indoor positioning system is derived therefrom. An indoor positioning system is a network of devices for wirelessly positioning objects or people within a building or in a dense industrial area.

The actual use scene of the indoor positioning system is complex. For example, in a robot race, it is necessary to detect coordinates of the race robot by a base station by setting a plurality of base stations on a race field and measuring coordinates of each base station in advance. The complex of the competition field may cause that the coordinates of each base station are inconvenient to measure or the measurement needs to consume more manpower and time, and the requirement for quickly setting up the positioning system cannot be met.

Disclosure of Invention

The invention provides a positioning system and a construction method thereof.

According to a first aspect of the invention, a method for building a positioning system is provided, the method comprising:

acquiring relative coordinates of at least two calibration positions in a current region under a relative coordinate system and absolute coordinates thereof under a preset fixed coordinate system, wherein at least two calibration positions are arranged at intervals;

and calculating transformation parameters between the relative coordinate system and the fixed coordinate system based on the relative coordinates and the absolute coordinates of at least two calibration positions.

According to a second aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to a third aspect of the invention there is provided a positioning system comprising one or more processors, working individually or collectively, the processors being configured to:

According to a fourth aspect of the present invention, there is provided a positioning system, comprising base stations and a positioning device that is movably disposed, wherein the positions of at least four of the base stations, and any three of the at least four base stations, are not collinear;

each base station can acquire first distance information between the base station and other base stations;

the positioning equipment is arranged at least two calibration positions and can acquire second distance information between each calibration position and any three base stations;

the base stations establish a relative coordinate system, and transformation parameters between the relative coordinate system and the fixed coordinate system are calculated according to first distance information among the base stations, second distance information among the calibration positions and any three base stations and absolute coordinates of the calibration positions under a preset fixed coordinate system.

According to the technical scheme provided by the embodiment of the invention, the absolute coordinates of the calibration positions of the plurality of easily measured absolute coordinates are obtained to replace the existing absolute coordinates of the directly measured base station, so that the erection process of the positioning system is simplified, the erection time of the positioning system is shortened, the efficiency is improved, the use scene of the positioning system is expanded, and the construction of the positioning system can be carried out in a complex environment.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic structural layout diagram of a positioning system in an embodiment of the present invention;

fig. 2 is a flowchart of a method for building a positioning system according to an embodiment of the present invention;

FIG. 3 is a flow chart of a method of construction of a positioning system in another embodiment of the invention;

fig. 4 is a block diagram of a base station according to an embodiment of the present invention;

FIG. 5 is a perspective view of a base station in an embodiment of the present invention;

FIG. 6 is a perspective view of a base station in another orientation in an embodiment of the present invention;

FIG. 7 is a block diagram of a positioning apparatus in an embodiment of the invention;

fig. 8 is a perspective view of a pointing device in one embodiment of the present invention.

Reference numerals:

xyz: a relative coordinate system; XYZ: fixing a coordinate system;

10: a first specific location; 11: a second specific location; 13: a third specific location; 14: a fourth specific location;

21: a first calibration position; 22: a second calibration position;

200: a base station; 201: a first processor; 202: a first indicator light; 203: a second indicator light; 204: a first USB interface;

300: positioning equipment; 301: a second processor; 302: a third indicator light; 303: a fourth indicator light; 304: a bus interface; 305: and a second USB interface.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The positioning system and the construction method thereof according to the present invention will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1, a positioning system provided in an embodiment of the present invention may include a plurality of base stations 200 for positioning, where absolute coordinates of the base stations 200 in a fixed coordinate system XYZ need to be obtained in advance, and then the absolute coordinates of an object to be detected in the fixed coordinate system XYZ are obtained through the base stations 200. Generally, the location of the base station 200 needs to be placed at a specific location so as to fully cover the current area for better positioning by the base station 200. The application scenario of the base station 200 may be complex, and the absolute coordinates of the base station 200 placed at a specific position in the fixed coordinate system XYZ may not be convenient to measure or may be time-consuming and labor-consuming to measure, so a simple and easy-to-use manner for building a positioning system needs to be designed.

The fixed coordinate system XYZ may be a coordinate system determined by a user, for example, a coordinate system determined by using one of the corners of the current area (e.g., any one of the four corners of a room) as a reference. In a higher-configured system, the fixed coordinate system XYZ may be upgraded to a world coordinate system determined by GPS.

Example one

Fig. 2 is a flowchart of a method for building a positioning system according to an embodiment of the present invention. Referring to fig. 2, the method may include the steps of:

step S201: acquiring relative coordinates of at least two calibration positions in a current region under a relative coordinate system XYZ and absolute coordinates of the at least two calibration positions under a preset fixed coordinate system XYZ, wherein the at least two calibration positions are arranged at intervals;

in this embodiment, the current area refers to an indoor area to be located, and may be a robot competition field or other indoor areas to be located.

The number of calibration positions can be selected as desired, for example, two or more calibration positions can be selected. In this embodiment, the number of the calibration positions is two, so that the calculation amount is reduced, and the speed of erecting the positioning system is increased. Of course, in other embodiments, three or more calibration positions may be selected, and the calculation result may be verified through a plurality of calibration positions, so as to ensure the accuracy of positioning system construction.

Wherein the relative coordinate system xyz is established according to the specific location for placing the base station 200 in the current area, specifically, the obtaining the relative coordinates of at least two calibration locations in the current area under the relative coordinate system xyz further includes: first distance information between every two specific positions in at least four specific positions in the current area is acquired, and a relative coordinate system xyz is established according to at least four specific positions. And calculating the relative coordinates of at least four specific positions under the relative coordinate system xyz according to the first distance information and the relative coordinate system xyz. Wherein any three of the at least four of the particular locations are not collinear. Each calibration position and each specific position are arranged at intervals, namely the calibration positions are not overlapped with any specific position, so that the calculation of the relative coordinates of the calibration positions under a relative coordinate system can be quickly realized through trilateral positioning, and the construction efficiency of the positioning system is further improved. .

It should be noted that "acquiring first distance information between every two specific positions of at least four specific positions in the current area" and "establishing the relative coordinate system xyz according to at least four specific positions" may be performed sequentially or may be performed synchronously.

The specific position can also be set according to the size of the playing field, the positioning requirement and the like, for example, the specific position can be selected to be four or more than four. In this embodiment, the number of the specific positions is four, and any three of the four specific positions do not coincide, so that the relative coordinates of the four specific positions in the relative coordinate system xyz can be calculated according to the first distance information between the four specific positions, so as to calculate the relative coordinates of the calibration position in the relative coordinate system xyz.

The manner of establishing the relative coordinate system xyz may be set as required, for example, in one embodiment, the establishing the relative coordinate system xyz according to at least four specific locations includes: one specific position is set as an origin, a vector formed by the specific position as the origin and the other specific position is set as one coordinate axis, and a relative coordinate system xyz is established. Of course, the manner of establishing the relative coordinate system xyz is not limited to this, and for example, the relative coordinate system xyz may be established by setting the middle of a connecting line between any two specific positions of at least four specific positions as the origin, and setting the connecting line between any two specific positions as one coordinate axis.

Optionally, the relative coordinate system xyz is a three-dimensional rectangular coordinate system. For example, referring to fig. 1, a right-handed cartesian rectangular coordinate system is established with the first specific location 10 as an origin and a vector formed by the first specific location 10 and the second specific location 11 as an x-axis. Of course, the relative coordinate system xyz is not limited to a three-dimensional rectangular coordinate system, and a rectangular coordinate system having two or more than three dimensions or other non-rectangular coordinate systems may be selected as required. According to the embodiment, the three-dimensional rectangular coordinate system is selected, the space coordinate of the position to be detected (such as a competition robot) can be obtained, and positioning is more visual.

Step S202: based on the relative coordinates and the absolute coordinates of at least two of the calibration positions, transformation parameters between the relative coordinate system XYZ and the fixed coordinate system XYZ are calculated.

After the step S201 and the step S202 are executed, the relative coordinates of the position to be detected in the relative coordinate system XYZ are obtained, that is, the relative position of the position to be detected in the relative coordinate system XYZ is converted into the absolute coordinates of the position to be detected in the fixed coordinate system XYZ according to the transformation parameters, so that the positioning standard is unified, and the user can conveniently identify the position.

In this embodiment, the transformation parameters include: and the relative coordinate system XYZ is converted into the rotation matrix and the translation vector of the fixed coordinate system XYZ, so that the relative coordinate of the relative coordinate system XYZ is converted into the absolute coordinate of the fixed coordinate system XYZ, and the positioning standard of the current area is unified.

In the embodiment of the invention, the absolute coordinates of a plurality of calibration positions which are easy to measure the absolute coordinates are obtained to replace the existing absolute coordinates of the direct measurement base station 200, so that the erection process of the positioning system is simplified, the erection time of the positioning system is shortened, the efficiency is improved, the use scene of the positioning system is expanded, and the construction of the positioning system can be carried out in a more complex environment.

Further, in step S201, the acquiring the relative coordinates of the at least two calibration positions in the current area under the relative coordinate system xyz may include: first, second distance information between each calibration position and any three specific positions of at least four specific positions is acquired. Then, according to the second distance information and the relative coordinates of the arbitrary three specific positions, the relative coordinates of each calibration position in the relative coordinate system xyz are calculated. In the embodiment, the relative coordinates of at least two calibration positions under the relative coordinate system xyz are calculated through the trilateral positioning principle, the calculation process is simple, and the implementation is easy.

In this embodiment, a positioning device 300 is disposed at the calibration position. Optionally, the number of the positioning apparatuses 300 is the same as the number of the calibration positions, and the positioning apparatuses 300 are placed at the corresponding calibration positions. Alternatively, the positioning device 300 is a device that can be movably placed at each calibration position, for example, after calibrating the relative coordinates of the current calibration position in the relative coordinate system xyz, the device moves to the next calibration position, or the device is placed at a designated calibration position within a specified time range, so as to complete the calibration of the relative coordinates of each calibration position in the relative coordinate system xyz.

Further, the obtaining second distance information between each calibration position and any three specific positions of the at least four specific positions may include: and acquiring second distance information between the positioning device 300 and any three specific positions obtained at the current calibration position. For example, in one embodiment, the positioning apparatus 300 may perform ranging by sensing, so as to obtain second distance information between the current calibration position and any three specific positions. In another embodiment, the positioning apparatus 300 may measure the distance by direct measurement, so as to obtain the second distance information between the current calibration position and any three specific positions. The present invention is not limited to the manner in which the locating device 300 measures the distance.

In addition, a base station 200 is provided at each specific location. In this embodiment, the number of the base stations 200 is the same as the number of the specific locations, and the base stations 200 are placed at the corresponding specific locations, so that the current area can be located by a plurality of base stations 200. The acquiring first distance information between each two specific positions of the at least four specific positions in the current region may include: first distance information between each base station 200 and other base stations 200 acquired by the base station is received. Accordingly, the base station 200 may measure the distance in various ways, for example, in one embodiment, the base station 200 may measure the distance inductively to obtain the first distance information between it and other base stations 200. In another embodiment, the base station 200 may measure the distance by direct measurement, so as to obtain the first distance information between the base station 200 and other base stations.

For example, in a specific embodiment, referring to fig. 1 and 3, the calibration positions include a first calibration position 21 and a second calibration position 22, and the specific positions include a first specific position 10, a second specific position 11, a third specific position 13 and a fourth specific position 14, wherein the heights of the first specific position 10, the second specific position 11, the third specific position 13 and the fourth specific position 14 in the current area are the same.

Setting the first specific position 10 as an origin, and taking a vector formed by the first specific position 10 and the second specific position 11 as an x-axis, establishing a right-handed cartesian rectangular coordinate system, which is a relative coordinate system xyz.

Wherein the relative coordinates of the first specific position 10, the second specific position 11, the third specific position 13 and the fourth specific position 14 in the relative coordinate system xyz are (x)₁₀、y₁₀、z₁₀)、(x₁₁、y₁₁、z₁₁)、(x₁₂、y₁₂、z₁₂) And (x)₁₃、y₁₃、z₁₃) Wherein x is₁₀＝y₁₀＝z₁₀＝y₁₁＝z₁₁＝z₁₂＝z₁₃0. The first distance information between the first specific position 10 and the second specific position 11, the third specific position 13, and the fourth specific position 14 is d_10-11、d_10-12、d_10-13The first distance information between the second specific position 11 and the third and fourth specific positions 13 and 14 is d_11-12、d_11-13The first distance information between the third specific position 13 and the fourth specific position 14 is d_12-13，x₁₁＝d_10-11Then, the relative coordinates of the first specific location 10, the second specific location 11, the third specific location 13, and the fourth specific location 14 in the relative coordinate system xyz can be calculated according to the following formula:

the relative coordinates of the second specific position 11, the third specific position 13, and the fourth specific position 14 in the relative coordinate system xyz can be calculated according to the formula (1).

The second distance information between the first calibration position 21 and the second specific position 11, the third specific position 13, and the fourth specific position 14 is d_21-11、d_21-12、d_21-13The distances d between the second calibration position 22 and the second specific position 11, the third specific position 13 and the fourth specific position 14 are respectively_22-11、d_22-12、d_22-13. Let the relative coordinate of the first calibration position 21 in the relative coordinate system xyz be (x)₂₁、y₂₁、z₂₁) The relative coordinate of the second calibration position 22 in the relative coordinate system xyz is (x)₂₂、y₂₂、z₂₂) Then, the calculation formulas for calculating the relative coordinates of the first calibration position 21 and the second calibration position 22 under the relative coordinate system xyz by the trilateration principle are respectively as follows:

the relative coordinates of the first calibration position 21 in the relative coordinate system xyz can be calculated according to the formula (2), and the relative coordinates of the second calibration position 22 in the relative coordinate system xyz can be calculated according to the formula (3).

The manner of obtaining the absolute coordinates of the calibration positions in the fixed coordinate system XYZ includes various manners, for example, in an embodiment, the obtaining the absolute coordinates of at least two calibration positions in the current area in the preset fixed coordinate system XYZ may include: the measured absolute coordinates of the pointing device 300 at the current calibration position in the fixed coordinate system XYZ are obtained. For example, the absolute coordinates of the current calibration position in the fixed coordinate system XYZ can be directly measured by the positioning apparatus 300. Alternatively, the fixed coordinate system is a world coordinate system, and the positioning apparatus 300 may measure absolute coordinates of the current calibration position in the world coordinate system based on positioning methods such as GPS, wifi (WIreless network), and the like.

In another embodiment, the selecting, as the target position, a position in the current area where the absolute coordinates in the fixed coordinate system XYZ are known may also include, before the obtaining of the absolute coordinates in the preset fixed coordinate system XYZ of at least two target positions in the current area, including: and receiving a user instruction, wherein the user instruction carries the absolute coordinates of each calibration position in the fixed coordinate system XYZ. The position of the known absolute coordinate in the current area is selected as a calibration position, and the absolute coordinate of the calibration position can be obtained by directly inputting the absolute coordinate of the corresponding position in the fixed coordinate system XYZ by a user, so that the transformation parameter between the relative coordinate system XYZ and the fixed coordinate system XYZ can be calculated by the relative coordinate and the absolute coordinate of the calibration position, the selection of the position of the base station 200 in the positioning system is more flexible, and the set position of the base station 200 is not restricted by the site environment condition.

Further, in an actual application scenario, after the calculating transformation parameters between the relative coordinate system XYZ and the fixed coordinate system XYZ, the method may further include: and acquiring the relative coordinate of the current position under the relative coordinate system XYZ, and calculating the absolute coordinate of the current position under the fixed coordinate system XYZ according to the relative coordinate of the current position and the transformation parameter. Wherein the current position is the real-time position of the object to be detected (e.g. a competition robot). After transformation parameters between the relative coordinate system XYZ and the fixed coordinate system XYZ are obtained, the absolute coordinates of the current position under the fixed coordinate system XYZ can be conveniently and quickly obtained according to the relative coordinates of the current position under the relative coordinate system XYZ, so that the current area is positioned by using the uniform fixed coordinate system XYZ, and the positioning system is simple and quick to build.

Specifically, the calculating the absolute coordinates of the current position in the fixed coordinate system XYZ according to the relative coordinates of the current position and the transformation parameter may include: first, the absolute coordinates of each specific position in the fixed coordinate system XYZ are calculated from the transformation parameters and the relative coordinates of at least four specific positions. Next, the absolute coordinates of the current position in the fixed coordinate system XYZ are calculated from the relative coordinates of the current position and the absolute coordinates of any specific position. Therefore, the absolute coordinates of the target to be detected under the fixed coordinate system XYZ are convenient for the user to identify.

The relative coordinates of the current position in the relative coordinate system xyz can be calculated by the trilateration principle or other means. In one embodiment, the obtaining of the relative coordinates of the current position in the relative coordinate system xyz by the trilateration principle may include: and obtaining third distance information between the current position and any three specific positions in the at least four specific positions, and calculating the relative coordinates of the current position under a relative coordinate system xyz according to the third distance information and the relative coordinates of the any three specific positions. The process of obtaining the relative coordinates of the current position in the relative coordinate system xyz by using the trilateral localization principle is the same as the process of obtaining the relative coordinates of the first calibration position 21 and the second calibration position 22 in the relative coordinate system xyz by using the trilateral localization principle, and is not described herein again. In this embodiment, the positioning device 300 may be disposed on the target to be detected, so that the positioning device 300 detects the third distance information between the current position of the target to be detected and any three specific positions in real time.

In another embodiment, the acquiring relative coordinates of the current position in the relative coordinate system xyz may include: and acquiring fourth distance information of the current position relative to any specific position on each coordinate axis of the relative coordinate system xyz, and calculating the relative coordinate of the current position under the relative coordinate system xyz according to the fourth distance information and the relative coordinate of any specific position. The fourth distance information of the current position relative to a specific position in each axis (x-axis, y-axis and z-axis) of the relative coordinate system xyz can be obtained by direct measurement or the like. The relative coordinate of the specific position under the relative coordinate system xyz is obtained by calculation according to the formula (1), and then the relative coordinate of the current position under the relative coordinate system xyz can be obtained by combining the fourth distance information.

In addition, after calculating the absolute coordinates of the current position in the fixed coordinate system XYZ according to the relative coordinates of the current position and the transformation parameter, the method may further include: and sending the absolute coordinates of the current position to a display device, and displaying the absolute coordinates of the current position in time through the display device, so that a user can intuitively acquire the position information of the current position. The display device may be a mobile phone or a tablet computer equipped with APP (application software).

It should be noted that the execution subject of the method for building the positioning system of the present invention may be any one of the at least four base stations 200, may also be the positioning device 300, and may also be a control device provided independently, such as a server.

The positioning system can be an indoor positioning system such as a uwb positioning system (Ultra Wideband, a carrier-free communication technology which transmits data by using nanosecond-picosecond-level non-sine wave narrow pulses), a bluetooth positioning system or a wifi positioning system.

The second embodiment provides a positioning system corresponding to the method for constructing the positioning system of the first embodiment.

Example two

The embodiment of the invention also provides a positioning system, which can comprise one or more processors, and the processors are used for executing the setting-up method of the positioning system in the first embodiment.

The second embodiment can be explained with reference to the first embodiment, and will not be described herein again.

The third embodiment will specifically describe the structure of the positioning system.

EXAMPLE III

Referring to fig. 1, an embodiment of the present invention further provides a positioning system, which may include a base station 200 and a positioning apparatus 300 that is movably disposed. Wherein, the base station 200 includes at least four, and the positions of any three base stations 200 in the at least four base stations 200 are not collinear.

Each base station 200 is able to acquire first distance information between it and other base stations 200. The base station 200 may measure the distance in various ways, for example, in one embodiment, the base station 200 may measure the distance inductively to obtain the first distance information between the base station 200 and other base stations. In another embodiment, the base station 200 may measure the distance by direct measurement, so as to obtain the first distance information between the base station 200 and other base stations.

The positioning device 300 is configured to at least two calibration positions, and is capable of acquiring second distance information between each calibration position and any three of the base stations 200. For example, in one embodiment, the positioning apparatus 300 may perform ranging by sensing, so as to obtain second distance information between the current calibration position and any three specific positions. In another embodiment, the positioning apparatus 300 may measure the distance by direct measurement, so as to obtain the second distance information between the current calibration position and any three specific positions. The present invention is not limited to the manner in which the locating device 300 measures the distance.

After the base stations 200 and the positioning devices 300 are arranged, the positioning system can be built through different devices, for example, in one embodiment, the base stations 200 build a relative coordinate system XYZ, and transform parameters between the relative coordinate system XYZ and a fixed coordinate system are calculated according to first distance information between the base stations 200, second distance information between each calibration position and any three base stations 200, and absolute coordinates of each calibration position under a preset fixed coordinate system XYZ.

In another embodiment, the base stations 200 and the positioning device 300 are communicatively connected to a server, which establishes a relative coordinate system XYZ and calculates transformation parameters between the relative coordinate system XYZ and a predetermined fixed coordinate system based on first distance information between the base stations 200, second distance information between each calibration position and any three base stations 200, and absolute coordinates of each calibration position in the fixed coordinate system XYZ.

Of course, the positioning device 300 may also complete the construction of the positioning system, the positioning device 300 establishes a relative coordinate system XYZ, and calculates transformation parameters between the relative coordinate system XYZ and the fixed coordinate system according to the first distance information between the base stations 200, the second distance information between each calibration position and any three base stations 200, and the absolute coordinates of each calibration position in the preset fixed coordinate system XYZ.

Wherein transformation parameters between the relative coordinate system xyz and the fixed coordinate system are calculated. Reference may be made to the method for building the positioning system in the first embodiment, which is not described herein again.

In the embodiment of the invention, the absolute coordinates of a plurality of calibration positions which are easy to measure are measured to replace the absolute coordinates of the existing direct measurement base station 200, so that the erection process of the positioning system is simplified, the erection time of the positioning system is shortened, the efficiency is improved, the use scene of the positioning system is expanded, and the positioning system can be constructed in a complex environment. The transformation parameters between the relative coordinate system XYZ and the fixed coordinate system XYZ are calculated by obtaining the relative coordinates and the absolute coordinates of the calibration position, so that the selection of the position of the base station 200 in the positioning system is more flexible, and the set position of the base station 200 does not need to be constrained by site environment conditions.

In this embodiment, the transformation parameters include: and the relative coordinate system XYZ is converted into a rotation matrix and a translation vector of the fixed coordinate system XYZ, so that the positioning standard of the current area is unified, and the user identification is facilitated.

In an embodiment, at least four of the base stations 200 are located at the same horizontal height, so as to further simplify the erection process of the positioning system, thereby speeding up the construction of the positioning system.

The number of base stations 200 may be selected according to the actual situation, for example, according to the shape and size of the current area (i.e., the area to be located), so as to better and more fully cover the current area. For example, in one embodiment, the current area is a quadrilateral, the number of the base stations 200 can be four, and four base stations 200 are respectively disposed on four edges of the current area, so as to achieve overall coverage of the current area. Any three base stations of the four base stations 200 are not collinear, so that the relative coordinates of each base station in the relative coordinate system can be calculated through a triangle.

In another embodiment, the current area is irregularly shaped and more than four may be selected by the base station 200 to better and more fully cover the current area.

With reference to fig. 4, 5 and 6, the base station 200 may include a first processor 201 and a first indicator light 202. Wherein, the first indicator light 202 is electrically connected with the first processor 201, so that the display state of the first indicator light 202 can be controlled by the first processor 201. The first indicator light 202 is used to indicate the ID status of the base station 200. The ID status of the base station 200 may include a base station 200ID acquisition failure and an ID (identification number) of the current base station 200. In the present embodiment, the ID state of the base station 200 may be distinguished by the light emission color of the first indicator lamp 202, the ID state of the base station 200 may also be distinguished by the light emission time period of the first indicator lamp 202, the ID state of the base station 200 may also be distinguished by the blinking state of the first indicator lamp 202, or the ID state of the base station 200 may be distinguished by a combination of at least two of the light emission color, the light emission time period, and the blinking state of the first indicator lamp 202. Of course, the ID status of the base station 200 may be distinguished in other ways.

The base station 200 may further comprise a second indicator light 203. The second indicator light 203 is electrically connected with the first processor 201, so that the display state of the second indicator light 203 can be controlled by the first processor 201. The second indicator light 203 is used for indicating the working state of the base station 200. The operation status of the base station 200 may include a failure of self-checking, a failure of positioning, a failure of communication between the base station 200 and the positioning apparatus 300, a success of communication between the base station 200 and the positioning apparatus 300, and the like. In this embodiment, the operating state of the base station 200 may be distinguished by the light emitting color of the second indicator lamp 203, the operating state of the base station 200 may also be distinguished by the light emitting time period of the second indicator lamp 203, the operating state of the base station 200 may also be distinguished by the blinking state of the second indicator lamp 203, or the operating state of the base station 200 may be distinguished by a combination of at least two of the light emitting color, the light emitting time period, and the blinking state of the second indicator lamp 203. Of course, the operation state of the base station 200 may be distinguished in other ways.

Table 1 is a table of the relationship between the display states of the first indicator lamp 202 and the second indicator lamp 203 and the ID state and the operation state of the base station 200.

TABLE 1

It should be noted that, in table 1, when the first processor 201 detects that the number of other base stations 200 is less than a preset number (for example, 3), the second indicator 203 is controlled to be normally on to indicate that the current record cannot be located with the required number of base stations 200.

If the self-check of the base station 200 fails, the self-check can be overcome by restarting the base station 200. If the base station 200 is restarted many times and the problem of the self-checking failure of the base station 200 still cannot be solved, the current base station 200 may be damaged and needs to be replaced in time.

Further, the base station 200 may further include a first communication interface. The first communication interface is electrically connected to the first processor 201, so that the first communication interface can be communicatively connected to an external device (e.g., an external power source, a server, etc.) to implement power supply and data transmission to the base station 200. Optionally, the first communication interface is used to connect to an external power source, so as to supply power to the base station 200. Optionally, the first communication interface is used for connecting a server, so as to implement communication connection between the base station 200 and the server, and implement mutual transmission of data. For example, the base station 200 may obtain the upgrade information through the first communication interface to implement the firmware upgrade operation on the base station 200, or may send the parameters to the base station 200 through the server to complete the setting of the parameters, and the base station 200 may also send the data detected in real time to the server to facilitate further analysis and processing in the background. The first communication interface is the first USB interface 204 or other types of communication interfaces, which is not limited in the present invention.

The positioning system can further comprise a fixing piece, and the base station 200 is installed on the fixing device through the fixing piece, so that the base station 200 is fixed, and inaccurate positioning caused by shaking of the base station 200 is prevented. Optionally, the fixing member is a fixing clip. Of course, the fixing member can also be selected to be a fastener such as a screw.

In conjunction with fig. 7 and 8, the pointing device 300 may include a second processor 301 and a third indicator light 302. The third indicator light 302 is electrically connected to the second processor 301, so that the display state of the third indicator light 302 can be controlled by the second processor 301. The third indicator light 302 is used to indicate the ID status of the pointing device 300. The ID status of the positioning device 300 may include a failure to acquire the positioning device 300ID and the ID of the current positioning device 300. In the present embodiment, the ID state of the pointing device 300 may be distinguished by the light emission color of the third indicator light 302, the ID state of the pointing device 300 may also be distinguished by the light emission time period of the third indicator light 302, the ID state of the pointing device 300 may also be distinguished by the blinking state of the third indicator light 302, or the ID state of the pointing device 300 may be distinguished by a combination of at least two of the light emission color, the light emission time period, and the blinking state of the third indicator light 302. Of course, the ID status of the pointing device 300 could be differentiated in other ways.

The positioning device 300 may further comprise a fourth indicator light 303. The fourth indicator light 303 is electrically connected to the second processor 301, so that the display state of the fourth indicator light 303 can be controlled by the second processor 301. The fourth indicator light 303 is used for indicating the working state of the positioning device 300. The working status of the positioning apparatus 300 may include failure of self-checking, failure of positioning, excessive positioning error, normal positioning, and the like. In this embodiment, the operating state of the positioning device 300 may be distinguished by the light emitting color of the fourth indicator light 303, the operating state of the positioning device 300 may also be distinguished by the light emitting time duration of the fourth indicator light 303, the operating state of the positioning device 300 may also be distinguished by the flashing state of the fourth indicator light 303, or the operating state of the positioning device 300 may be distinguished by a combination of at least two of the light emitting color, the light emitting time duration, and the flashing state of the fourth indicator light 303. Of course, the operating state of the pointing device 300 may be differentiated in other ways.

Table 2 is a table of the display states of the third indicator light 302 and the fourth indicator light 303 and the ID state and the operating state of the pointing device 300.

TABLE 2

It should be noted that, in table 2, when the number of the base stations 200 detected by the second processor 301 is less than the preset data (for example, the preset data is equal to 3), the fourth indicator light 303 is controlled to flash red light, which indicates that the positioning data is wrong or does not exist. When the number of the base stations 200 detected by the second processor 301 is equal to the preset data, the fourth indicator light 303 is controlled to be a red light and to be normally on, which indicates that the error of the positioning data is large. When the number of the base stations 200 detected by the second processor 301 is greater than the preset data, the fourth indicator light 303 is controlled to flash alternately to indicate that the positioning data is normal.

In addition, if the self-test of the positioning apparatus 300 fails, the self-test can be overcome by restarting the positioning apparatus 300. If the problem of the self-checking failure of the positioning apparatus 300 still cannot be solved by restarting the positioning apparatus 300 for many times, the current positioning apparatus 300 may be damaged and needs to be replaced in time.

The positioning device 300 may further include a second communication interface electrically connected to the second processor 301, so that power supply and data transmission to and from the positioning device 300 can be realized through the second communication interface and external devices (e.g., an external power supply, a server, the base station 200, etc.).

Optionally, the second communication interface may include a bus interface 304, the bus interface 304 is electrically connected to the second processor 301, and the bus interface 304 is used to connect an external power supply, a server, or the base station 200, so as to implement power supply to the positioning device 300, or implement data transmission between the positioning device 300 and the server, to upgrade the positioning device 300, or perform parameter setting, or implement data transmission between the positioning device 300 and the base station 200. The bus interface 304 CAN be selected from a CAN bus interface 304(Controller Area Network) or other types of bus interfaces 304.

Optionally, the second communication interface may include a second USB interface 305, and the second USB interface 305 is electrically connected to the second processor 301. The second USB interface 305 is used to connect to an external power source or a server, so as to implement power supply to the positioning device 300 or data transmission between the positioning device 300 and the server, so as to upgrade or set parameters of the positioning device 300. Of course, the second communication interface may also be other types of communication interfaces, which is not limited in the present invention.

Example four

An embodiment of the present invention provides a computer storage medium, in which program instructions are stored, and the computer storage medium stores program instructions, where the program executes the method of the positioning system in the first embodiment.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The description of "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A method for building a positioning system, the method comprising:

2. The method according to claim 1, wherein before the obtaining the relative coordinates of the at least two calibration positions in the current area in the relative coordinate system, further comprises:

acquiring first distance information between every two specific positions in at least four specific positions in a current area, wherein any three specific positions in the at least four specific positions are not collinear, and each calibration position is arranged at a distance from each specific position;

establishing a relative coordinate system according to at least four specific positions;

and calculating the relative coordinates of at least four specific positions in the relative coordinate system according to the first distance information and the relative coordinate system.

3. The method according to claim 2, wherein the obtaining of the relative coordinates of the at least two calibration positions in the current area in the relative coordinate system comprises:

acquiring second distance information between each calibration position and any three specific positions of at least four specific positions;

and calculating the relative coordinate of each calibration position in the relative coordinate system according to the second distance information and the relative coordinates of the any three specific positions.

4. A method according to claim 3, characterized in that a positioning device is provided at said nominal position;

acquiring second distance information between each calibration position and any three specific positions of the at least four specific positions, including:

and acquiring second distance information between the positioning equipment and any three specific positions, which is acquired by the positioning equipment at the current calibration position.

5. The method of claim 2, wherein a base station is located at each specific location;

the acquiring first distance information between every two specific positions in at least four specific positions in the current area comprises the following steps:

and receiving first distance information which is sent by each base station and acquired by the base station and is between the base station and other base stations.

6. The method of claim 2, wherein said establishing a relative coordinate system based on at least four of said particular locations comprises:

and setting one specific position as an origin, setting a vector formed by the specific position as the origin and the other specific position as one coordinate axis, and establishing a relative coordinate system.

7. The method of claim 6, wherein the relative coordinate system is a three-dimensional rectangular coordinate system.

8. The method according to claim 3, wherein the obtaining absolute coordinates of at least two calibration positions in the current area in a preset fixed coordinate system comprises:

acquiring the measured absolute coordinates of the positioning equipment at the current calibration position in the fixed coordinate system;

or,

the acquiring absolute coordinates of at least two calibration positions in the current area under a preset fixed coordinate system comprises:

and receiving a user instruction, wherein the user instruction carries the absolute coordinates of each calibration position in the fixed coordinate system.

9. The method of claim 2, wherein after calculating the transformation parameters between the relative coordinate system and the fixed coordinate system, further comprising:

acquiring the relative coordinate of the current position under the relative coordinate system;

and calculating the absolute coordinate of the current position under the fixed coordinate system according to the relative coordinate of the current position and the transformation parameter.

10. The method of claim 9, wherein the calculating absolute coordinates of the current location in the fixed coordinate system according to the relative coordinates of the current location and the transformation parameters comprises:

calculating absolute coordinates of each specific position in the fixed coordinate system according to the transformation parameters and the relative coordinates of at least four specific positions;

and calculating the absolute coordinate of the current position under the fixed coordinate system according to the relative coordinate of the current position and the absolute coordinate of any specific position.

11. The method of claim 9, wherein the obtaining relative coordinates of the current location in the relative coordinate system comprises:

acquiring third distance information between the current position and any three specific positions of at least four specific positions;

and calculating the relative coordinate of the current position in a relative coordinate system according to the third distance information and the relative coordinates of the arbitrary three specific positions.

12. The method of claim 9, wherein the obtaining relative coordinates of the current location in the relative coordinate system comprises:

obtaining fourth distance information of the current position relative to any specific position on each coordinate axis of the relative coordinate system;

and calculating the relative coordinate of the current position in a relative coordinate system according to the fourth distance information and the relative coordinate of any specific position.

13. The method of claim 9, wherein after calculating the absolute coordinates of the current location in the fixed coordinate system according to the relative coordinates of the current location and the transformation parameters, further comprising:

and sending the absolute coordinates of the current position to a display device.

14. The method of claim 1, wherein the transformation parameters comprise: the relative coordinate system is converted to a rotational matrix and a translational vector of the fixed coordinate system.

15. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method of building a positioning system according to any one of claims 1 to 14.

16. A positioning system comprising one or more processors, operating individually or collectively, the processors configured to:

17. The positioning system according to claim 16, wherein said obtaining relative coordinates of at least two calibration positions in the current area in a relative coordinate system further comprises:

18. The positioning system according to claim 17, wherein said obtaining relative coordinates of at least two calibration positions in the current area in a relative coordinate system comprises:

19. The positioning system of claim 18, wherein a positioning device is provided at the calibration position;

20. The location system of claim 17, wherein a base station is located at each specific location;

21. The positioning system of claim 17, wherein said establishing a relative coordinate system based on at least four of said particular locations comprises:

22. The positioning system of claim 21, wherein the relative coordinate system is a three-dimensional rectangular coordinate system.

23. The positioning system according to claim 18, wherein said obtaining absolute coordinates of at least two calibration positions in the current area in a predetermined fixed coordinate system comprises:

or,

24. The positioning system of claim 17, further comprising, after said calculating transformation parameters between said relative coordinate system and said fixed coordinate system:

25. The positioning system of claim 24, wherein said calculating absolute coordinates of the current location in the fixed coordinate system based on the relative coordinates of the current location and the transformation parameters comprises:

26. The positioning system of claim 24, wherein said obtaining relative coordinates of the current location in the relative coordinate system comprises:

27. The positioning system of claim 24, wherein said obtaining relative coordinates of the current location in the relative coordinate system comprises:

28. The positioning system of claim 24, wherein after calculating the absolute coordinates of the current location in the fixed coordinate system according to the relative coordinates of the current location and the transformation parameters, further comprising:

29. The positioning system of claim 16, wherein the transformation parameters comprise: the relative coordinate system is converted to a rotational matrix and a translational vector of the fixed coordinate system.

30. A positioning system is characterized by comprising base stations and positioning equipment which can be movably arranged, wherein the positions of any three of at least four base stations are not collinear;

31. The location system of claim 30, wherein at least four of said base stations are located at the same level.

32. The location system of claim 30, wherein the base station includes a first processor and a first indicator light electrically connected to the first processor, the first indicator light for indicating an ID status of the base station.

33. The location system of claim 32, wherein the base station further comprises a second indicator light electrically connected to the first processor, the second indicator light for indicating an operational status of the base station.

34. The location system according to claim 32 or 33, wherein the base station further comprises a first USB interface electrically connected to the first processor, the first USB interface being configured to connect to an external power source or a server.

35. The positioning system of claim 30, further comprising a fixture by which the base station is mounted to a fixture.

36. The location system of claim 30, wherein the location device includes a second processor and a third indicator light electrically connected to the second processor, the third indicator light for indicating an ID status of the location device.

37. The positioning system of claim 36, wherein the positioning device further comprises a fourth indicator light electrically connected to the second processor, the fourth indicator light for indicating an operational status of the positioning device.

38. The location system of claim 36 or 37, wherein the location device further comprises a bus interface electrically connected to the second processor, the bus interface for connecting to an external power source, a server, or a base station.

39. The positioning system according to claim 36 or 37, wherein the positioning device further comprises a second USB interface electrically connected to the second processor, the second USB interface being configured to connect to an external power source or a server.

40. The positioning system of claim 30, wherein the transformation parameters comprise: the relative coordinate system is converted to a rotational matrix and a translational vector of the fixed coordinate system.