CN113286255B

CN113286255B - Ad hoc network method of positioning system based on beacon base station and storage medium

Info

Publication number: CN113286255B
Application number: CN202110385167.4A
Authority: CN
Inventors: 胡锦华
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2023-04-14
Anticipated expiration: 2041-04-09
Also published as: CN113286255A; WO2022213855A1

Abstract

The application discloses an ad hoc network method and a storage medium of a positioning system based on a beacon base station. The method comprises the following steps: establishing a first coordinate system by taking the first base station as a coordinate origin, wherein the second base station is positioned on an X axis of the first coordinate system, and an X axis and a Y axis in the first coordinate system are positioned in a first plane; respectively determining coordinates of each base station in the base station set in a first coordinate system based on the device distance, determining coordinates of the position of the mobile device when the mobile device moves in the ground plane, and determining a rotation matrix between a first plane and a second plane by using the coordinates of each base station and the mobile device, wherein the second plane is the plane of the mobile device; and processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile equipment in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the planes of the X axis and the Y axis in the second coordinate system are parallel to the second plane. The method and the device solve the technical problem that networking deployment of the positioning system is difficult in the related technology.

Description

Ad hoc network method of positioning system based on beacon base station and storage medium

Technical Field

The present application relates to the field of positioning, and in particular, to an ad hoc network method and a storage medium for a positioning system based on a beacon base station.

Background

The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and thus, the occupied frequency spectrum range is Wide. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.

The UWB positioning system is high in precision and good in real-time performance, can be widely applied to occasions such as logistics centers, factories and prisons, but is less in application for personal consumers, and the reason is considered, mainly because the deployment of UWB positioning base stations is difficult, the positions of all the base stations need to be accurately measured, and the base stations need to keep time synchronization.

With the development of the UWB technology, some robots in the current market, which rely on UWB positioning, have an autonomous networking technology, but the premise is that users are required to measure the heights of base stations themselves or it is required to ensure that the heights of all base stations are the same, and although the appearance of the networking technology simplifies deployment, the convenience is still insufficient.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the application provides an ad hoc network method and a storage medium of a positioning system based on a beacon base station, so as to at least solve the problem of difficulty in networking deployment of the positioning system in the related technology.

According to an aspect of the embodiments of the present application, there is provided an ad hoc network method for a beacon base station based positioning system, the positioning system including a base station set and a mobile device, the base station set including a fourth base station, a first base station located in a first plane, a second base station, and a third base station, the method including: establishing a first coordinate system by taking the first base station as a coordinate origin, wherein the second base station is positioned on an X axis of the first coordinate system, an X axis and a Y axis in the first coordinate system are positioned in a first plane, and a Z axis of the first coordinate system is vertical to the first plane; respectively determining coordinates of each base station in the base station set and the mobile equipment in a first coordinate system based on the equipment distance (the coordinates of the mobile equipment comprise coordinates of three stop positions of the mobile equipment in the moving process), wherein the equipment distance comprises the distance between two base stations and the distance between the mobile equipment and the base stations; determining a rotation matrix between a first plane and a second plane by using coordinates of each base station in the base station set and the mobile equipment in a first coordinate system, wherein the second plane is a plane where the mobile equipment is located; and processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile equipment in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the planes of the X axis and the Y axis in the second coordinate system are parallel to the second plane.

According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program which, when executed, performs the above-described method.

According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the above method through the computer program.

In the embodiment of the present application, a first coordinate system is established based on a first plane in which a first base station, a second base station, and a third base station are located, and further, coordinates of each base station and a mobile device are determined by using a distance measurement result based on UWB communication ranging. The whole establishing process of the positioning system can be automatically realized without manual participation, the problem of difficulty in networking deployment of the positioning system in the related technology can be solved, and the technical effect of the ad hoc network of the positioning system is further achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a flow chart of an alternative ad-hoc network method of a beacon base station based positioning system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an alternative positioning system in accordance with embodiments of the present application;

FIG. 3 is a schematic diagram of an alternative positioning system in accordance with embodiments of the present application;

fig. 4 is a schematic diagram of an ad-hoc network device of an alternative beacon base station based positioning system according to an embodiment of the present application; and (c) a second step of,

fig. 5 is a block diagram of a terminal according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

First, some terms or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:

ultra Wide Band (UWB): the method is a wireless local area network communication technology with low power consumption and high-speed transmission, is suitable for wireless communication application requiring high-quality service, and can be used in the fields of wireless personal area networks, home network connection, short-distance radars and the like. It does not use a continuous sine wave but is transmitted using a pulse signal.

TWR (Two-Way-Ranging): the ranging technology based on UWB communication calculates the distance between 2 UWB antennas by calculating the time difference between the pulse sending and the pulse returning.

A base station: the components of the positioning system, whose positions are known, are generally stationary.

Labeling: the component to be located in the positioning system, the purpose of which is to solve for the position of the tag relative to the base station.

The Least Squares method (Least Squares) is a standard method in regression analysis, which is a method used to approximate the answer to an overdetermined System. An overdetermined system refers to a concept in mathematics, in which a set of equations containing unknowns is an overdetermined system (overdetermined set of equations) if the number of equations is greater than the number of unknowns. Overdetermined systems (overdetermined sets of equations) are generally solution-free and can only solve for approximations. The least square method is a method for solving the approximate solution of the over-determined equation set.

In the aspect of UWB application facing individual users, it is required that deployment be as simple as possible, users are not required to measure the location of base stations or keep the height of base stations the same, and time synchronization is not required. Based on this, according to an aspect of the embodiments of the present application, an embodiment of a method for an ad hoc network of a positioning system based on a beacon base station is provided, which is suitable for UWB base station autonomous positioning of an outdoor robot, does not require a user to measure the height of the base station, does not require to keep the height of the base station the same, is very simple in base station positioning, is automated, does not require user intervention, and greatly simplifies a deployment process.

Fig. 1 is a flowchart of an optional ad hoc network method of a beacon base station based positioning system according to an embodiment of the present application, where the positioning system includes a base station set and a mobile device, the base station set includes a fourth base station, and further includes a first base station, a second base station, and a third base station located in the same plane (i.e., a first plane), and the method may be executed by a base station or a mobile device (e.g., a robot) in the positioning system, and may also be executed by a server, as shown in fig. 1, and the method may include the following steps:

step S102, a first coordinate system is established by taking the first base station as a coordinate origin, the second base station is located on an X axis of the first coordinate system, an X axis and a Y axis in the first coordinate system are located in a first plane, and a Z axis of the first coordinate system is perpendicular to the first plane.

And step S104, controlling the mobile device to move in the ground plane (namely the second plane), and determining a plurality of stopping positions of the mobile device.

Step S104 is an optional step, and is aimed at determining a plurality of positions of the mobile device in the ground plane, where the plurality of positions may be positions of the mobile device during movement in the ground plane, or positions of the plurality of mobile devices in the ground plane, respectively.

Step S106, determining coordinates of each base station and the mobile device in the base station set in the first coordinate system based on the device distance, where the device distance includes a distance between two base stations, such as a distance between the first base station and each of the second base station, the third base station, and the fourth base station, and the device distance further includes a distance between the mobile device and each base station, such as a distance between a plurality of stop positions (e.g., three stop positions) of the mobile device on the second plane and each of the above four base stations.

Step S108, determining a rotation matrix between a first plane and a second plane by using coordinates of each base station in the base station set and the mobile equipment in a first coordinate system, wherein the second plane is a plane where the mobile equipment is located.

And step S110, processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile device in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the planes of the X axis and the Y axis in the second coordinate system are parallel to the second plane.

Through the above steps, a first coordinate system is established based on a first plane where the first base station, the second base station and the third base station are located, and then the distance measurement result based on the UWB communication ranging is adopted to determine the coordinates of each base station and the mobile device. The whole establishing process of the positioning system can be automatically realized without manual participation, the technical problem that networking deployment of the positioning system is difficult in the related technology can be solved, and the technical effect of ad hoc networking of the positioning system is further achieved.

Taking the application of the technical scheme of the application to robot positioning as an example: the robot mostly moves on the ground, so the ground can be considered as a plane (i.e. a second plane) approximately, and the height coordinate of the plane is 0, i.e. the Z-axis coordinate is 0, so as to create a second coordinate system, and the technical scheme of the present application is further detailed below with reference to specific steps:

step 1, installing a positioning system.

As shown in fig. 2, the system is composed of a base station set and a mobile robot. The four base stations are placed in a counterclockwise sequence, the four base stations are far away from the ground as far as possible, any three base stations cannot be collinear, and a quadrangle is formed as far as possible. Before networking is started, the mobile robot is placed on the ground with the center as flat as possible.

And step 2, starting the ad hoc network, namely the first base station to the fourth base station, namely the No. 1 base station to the No. 4 base station.

And step 21, establishing a first coordinate system C1 by taking the base station No. 1 as a coordinate origin.

Since the robot mostly moves on the ground, the ground plane can be considered as one plane (i.e., the second plane) approximately, and the second coordinate system has the ground plane as the XY plane. The plurality of base stations are arranged above the ground, the height does not need to be measured by a user, the height is unknown, and the plane coordinate is also unknown. The final purpose of the scheme is to solve the coordinates of each base station in the second coordinate system.

When the coordinates are solved, the arrangement positions of the base stations can be known, and the base station No. 1 (or called a master base station), the base station No. 2 (or called a slave base station) and the base station No. 3 are not collinear. A3-point coplanarity principle is adopted, a No. 1 base station, a No. 2 base station and a No. 3 base station form a first plane PH1, in the plane PH1, the coordinate of the No. 1 base station can be taken as an origin (0, 0), and the direction of the No. 1 base station pointing to the No. 2 base station is an X axis; and a three-dimensional right-hand coordinate system C1 is constructed by taking the direction perpendicular to the plane PH1 to the sky as a Z axis.

And step 22, acquiring the distance between the base stations and the distance between the robot and the base stations.

Using a ranging scheme DS _ TWR (i.e. two-sided two-way ranging, ranging based on time-of-flight TOA algorithm) to measure distances using 4 base stations and 1 robot (with one UWB positioning tag, such as P1 in fig. 2 and 3), 10 sets of distances between each other can be obtained:

the distance between the No. 1 base station and the No. 2 base station is R12; the distance between the base station No. 1 and the base station No. 3 is R13; the distance between the base station No. 1 and the base station No. 4 is R14; the distance between the No. 2 base station and the No. 3 base station is R23; the distance between the No. 2 base station and the No. 4 base station is R24; the distance between the base station No. 3 and the base station No. 4 is R34; the distance R1 between the robot and the No. 1 base station; the distance R2 between the robot and the No. 2 base station; the distance R3 between the robot and the No. 3 base station; and the distance R4 between the robot and the No. 4 base station.

In step 23, the coordinates of each base station and the coordinates of the robot are solved in C1.

And 231, solving the coordinates of the base station No. 1, the base station No. 2 and the base station No. 3.

The coordinates of base station number 1 are TP1 (X1, Y1, Z1), where X1, Y1, Z1 all equal 0; base station No. 2 has coordinates TP2 (X2, Y2, Z2), where X2= R12, Y2, Z2 equal to 0; from the layout and the right-hand coordinate system, it can be known that the Y-axis coordinate of base station No. 3 is greater than zero, and therefore the coordinate of base station No. 3 can be solved as TP3 (X3, Y3, 0), where X3, Y3 coordinates are:

and step 232, solving the coordinate P1 of the robot.

The coordinate P1 of the robot in the C1 coordinate can be obtained by using the least square method, and the solving step is as follows. Assuming that the robot coordinates are (x, y, z), the distances from the robot to base station No. 1, base station No. 2, and base station No. 3 can be expressed as following formulas 1 to 3:

(x-X1) ² +(y-Y1) ² +(z-Z1) ² ＝R1 ²

(x-X2) ² +(y-Y2) ² +(z-Z2) ² ＝R2 ²

(x-X3) ² +(y-Y3) ² +(z-Z3) ² ＝R3 ² ；

since Z1, Z2, Z3 are all equal to zero, x and y can be solved first, and then Z. Subtracting the formula 2 from the formula 1, subtracting the formula 3 from the formula 1, and subtracting the formula 3 from the formula 2 to obtain:

-2xX1+X1 ² -(-2xX3+X3 ² )-2yY1+Y1 ² -(-2yY3+Y3 ² )＝R1 ² -R3 ²

-2xX2+X2 ² -(-2xX3+X3 ² )-2yY2+Y2 ² -(-2yY3+Y3 ² )＝R2 ² -R3 ²

-2xX1+X1 ² -(-2xX2+X2 ² )-2yY1+Y1 ² -(-2yY2+Y2 ² )＝R1 ² -R2 ² (ii) a The unknowns x, y are written in matrix form,

the above formula can be converted into a matrix form AX = b.

Wherein,

by using the least square method for the above formula, X = inv (a) can be obtained ^T *A)*A ^T * b, where inv is the inversion of the matrix and superscript T is the transpose of the matrix. Since the robot is located at the center of the field, the z coordinate of the robot is necessarily smaller than zero in the C1 coordinate system, and the obtained x and y coordinates are substituted into the above formula, so as to obtain the position P1 of the robot, where the coordinates of the robot are represented by (XR 1, YR1, ZR 1).

Step 233, determining the coordinates of the base station No. 4 in the coordinate system C1 according to the distance between the base station No. 4 and the base station No. 1, the base station No. 2, the base station No. 3 and the robot, and solving the coordinates of the base station No. 4 by using the least square method, as described in the above, where the following equations 4 to 6:

(x-X1) ² +(y-Y1) ² +(z-Z1) ² ＝R14 ²

(x-X2) ² +(y-Y2) ² +(z-Z2) ² ＝R24 ²

(x-X3) ² +(y-Y3) ² +(z-Z3) ² ＝R34 ²

(x-XR1) ² +(y-YR1) ² +(z-ZR1) ² ＝R4 ²

using least squares X = inv (a) ^T *A)*A ^T * b, coordinate TP4 of base station number 4 is obtained and is represented as (X4, Y4, Z4). Up to this point, the positions of 4 base stations and the robot in the C1 coordinate system have been found.

And 3, moving and positioning the robot.

Step 31, during the movement of the robot in the ground plane, the position P1 (i.e. the initial position, which has been solved in step 2), the position P2 and the position P3, where the robot is located during the movement, are determined.

And 32, determining the coordinates of the position P2 in the coordinate system C1 according to the spacing distances between the position P2 and each base station (at least including the base stations No. 1 to No. 4), and determining the coordinates of the position P3 in the coordinate system C1 according to the spacing distances between the position P3 and each base station.

For example, the robot autonomously moves forward 3m from P1, stops, measures the distances between its own tag and 4 base stations, obtains its position based on the C1 coordinate system by using the least square method, and records the position as P2, with coordinates (XR 2, YR2, ZR 2).

Step 33, the position of P3 is determined. The robot rotates 90 degrees in situ, moves 3m forwards autonomously, stops, measures the distance between the label and a plurality of base stations, obtains the position of the robot based on a C1 coordinate system by using a least square method, and records the position as P3 and the coordinates as (XR 3, YR3, ZR 3).

The solving method of the coordinates of P2 and P3 is similar to that of the coordinates, and is not described again.

And 4, solving the rotation matrix, wherein the base station No. 1, the base station No. 2 and the base station No. 3 are coplanar, and the positions TP1, TP2 and TP3 of the robot are coplanar, so that the rotation matrix M1 of the two surfaces can be solved. The solving steps are as follows:

step 41, determining a normal vector of a plane PH1 by using the coordinate of the base station No. 1, the coordinate of the base station No. 2, and the coordinate of the base station No. 3, that is, solving the normal vector of the plane in which the base station No. 1, the base station No. 2, and the base station No. 3 are located:

NVT = cross ((TP 1-TP 2), (TP 1-TP 3)), where cross represents a cross product.

Step 42, determining a normal vector of the ground plane by using the coordinates of the position P1, the coordinates of the position P2 and the coordinates of the position P3, that is, the robot always moves on the ground, so that the positions P1, P2 and P3 of the robot are coplanar, and solving the normal vector of the plane P1, P2 and P3 by cross multiplication:

NVR＝cross((P1-P2),(P1-P3))，

NVT and NVR are both three-dimensional vectors.

Step 43, solving a rotation matrix M from the plane where the base station No. 1, the base station No. 2 and the base station No. 3 are located to the plane where the robot positions P1, P2 and P3 are located by using a normal vector NVT and a normal vector NVR, and using an axis and angle method:

the rotating angle is as follows:

RAG＝acos((NVT.x*NVR.x+NVT.y*NVR.y+

NVT.z*NVR.z)/(norm(NVT)*norm(NVR)))，

in the above equation, nvt.x represents the X-axis coordinates of the three-dimensional vector NVT, and the rest is similar.

The rotation axis after normalization is:

RAX＝corss(NVT,NVR)

RAX＝RAX/norm(RAX)

in the above formula, acos is an inverse cosine function, norm vector modulo length function, cross represents cross product of the vector. After the rotation axis and the rotation angle are obtained, a rotation matrix from the plane where the base station No. 1, the base station No. 2 and the base station No. 3 are located to the plane where the robot positions P1, P2 and P3 are located can be obtained by an axis angle method, and the rotation matrix is an orthogonal matrix of 3 x3 and is expressed by RM.

RM(1,1)＝cos(RAG)+(1-cos(RAG))*RAX(1) ²

RM(1,2)＝-sin(RAG)*RAX(3)+(1-cos(RAG))*RAX(1)*RAX(2)

RM(1,3)＝sin(RAG)*RAX(2)+(1-cos(RAG))*RAX(1)*RAX(3)

RM(2,1)＝sin(RAG)*RAX(3)+(1-cos(RAG))*RAX(1)*RAX(2)

RM(2,2)＝cos(RAG)+(1-cos(RAG))*RAX(2) ²

RM(2,3)＝-sin(RAG)*RAX(1)+(1-cos(RAG))*RAX(2)*RAX(3)

RM(3,1)＝-sin(RAG)*RAX(2)+(1-cos(RAG))*RAX(1)*RAX(3)

RM(3,2)＝sin(RAG)*RAX(1)+(1-cos(RAG))*RAX(2)*RAX(3)

RM(3,3)＝cos(RAG)+(1-cos(RAG))*RAX(3) ² ；

And 5, respectively rotating the coordinates of the 4 base stations and the robot in the coordinate system C1 by using the rotation matrix M to obtain updated coordinates of the 4 base stations and the robot in a third coordinate system, wherein the third coordinate system is obtained by rotating the first coordinate system by using the rotation matrix.

The coordinates TP1, TP2, TP3, TP4, P1, P2, and P3 are all multiplied by a rotation matrix M1 (which is equivalent to rotating the coordinate system C1 so that the plane of the X and Y axes of the rotated coordinate system is parallel to the ground plane), and new coordinates are obtained as TPM1, TPM2, TPM3, TPM4, PM1, PM2, and PM3, respectively.

TPM1＝RM*TP1

TPM2＝RM*TP2

TPM3＝RM*TP3

TPM4＝RM*TP4

PM1＝RM*P1

PM2＝RM*P2

PM3＝RM*P3；

Acquiring the coordinate average value of the coordinates PM1, PM2 and PM3 of the robot on the Z axis; and subtracting the coordinate average value from the coordinate on the Z axis in the updated coordinates TPM1, TPM2, TPM3 and TPM4 of each base station in the third coordinate system to obtain the coordinate of each base station on the Z axis of the second coordinate system.

It can be found that the z coordinates of PM1, PM2, PM3 are almost equal, and the average value is ZH;

ZH＝(PM1.z+PM2.z+PM3.z)/3，

updating coordinates, and subtracting ZH from the z coordinates of the TPM1, the TPM2, the TPM3 and the TPM 4;

TPM1.z＝TPM1.z-ZH

TPM2.z＝TPM2.z-ZH

TPM3.z＝TPM3.z-ZH

TPM4.z＝TPM4.z-ZH

and 6, plane rotation is carried out, a target angle RAG2 is determined, and the coordinate of the second base station on the Y axis after rotation according to the target angle is 0. And rotating the coordinates on the X axis and the coordinates on the Y axis in the updated coordinates of the second base station, the third base station and the fourth base station in the third coordinate system according to the target angle to obtain the coordinates on the X axis and the coordinates on the Y axis of the second coordinate system of the second base station, the third base station and the fourth base station.

Keeping the Z coordinates of the TPM2, the TPM3 and the TPM4 unchanged, rotating the X and Y coordinates by an angle RAG2, and rotating to enable the Y value of the coordinate of the base station No. 2 to be zero, so that the coordinates of four base stations which are respectively (0, Z1), (X2, 0, Z2), (X3, Y3, Z3), (X4, Y4 and Z4) can be obtained, the coordinates form a coordinate system C2, and the final base station coordinates are obtained, wherein the heights of the 4 base stations are the heights from the ground plane, when the robot moves on the ground plane, the Z coordinate is always zero, and path planning and navigation are converted into a two-dimensional problem, so that the robot is more convenient.

RAG2＝-atan(TPM2.y/TPM2.x)；

Z1＝TPM1.z

X2＝TPM2.x*cos(RAG2)-TPM2.y*sin(RAG2)

Z2＝TPM2.z

X3＝TPM3.x*cos(RAG2)-TPM3.y*sin(RAG2)

Y3＝TPM3.x*sin(RAG2)+TPM3.y*cos(RAG2)

Z3＝TPM3.z

X4＝TPM4.x*cos(RAG2)-TPM4.y*sin(RAG2)

Y4＝TPM4.x*sin(RAG2)+TPM4.y*cos(RAG2)

Z4＝TPM4.z

By adopting the positioning network ad hoc network technology, the position coordinates of the base stations can be automatically solved, the height of each base station does not need to be measured, the heights of the base stations do not need to be the same, and the deployment is simpler.

It should be noted that for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art will recognize that the embodiments described in this specification are preferred embodiments and that acts or modules referred to are not necessarily required for this application.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided an ad hoc network device of a beacon base station based positioning system for implementing the ad hoc network method of the beacon base station based positioning system. Fig. 4 is a schematic diagram of an ad hoc network device of an alternative beacon base station based positioning system according to an embodiment of the present application, and as shown in fig. 4, the device may include:

a creating unit 401, configured to create a first coordinate system with the first base station as a coordinate origin, where the second base station is located on an X-axis of the first coordinate system, an X-axis and a Y-axis of the first coordinate system are located in the first plane, and a Z-axis of the first coordinate system is perpendicular to the first plane;

a positioning unit 403, configured to determine coordinates of each base station in the set of base stations and the mobile device in the first coordinate system based on device distances, respectively, where the device distances include a distance between two base stations and a distance between the mobile device and a base station;

a determining unit 405, configured to determine a rotation matrix between the first plane and a second plane using coordinates of each base station in the set of base stations and the mobile device in the first coordinate system, where the second plane is a ground plane;

a processing unit 407, configured to process, based on the rotation matrix and the coordinates of the mobile device in the first coordinate system, the coordinates of each base station in the first coordinate system, and determine the coordinates of each base station in a second coordinate system, where planes where an X axis and a Y axis in the second coordinate system are located coincide with the second plane.

It should be noted that the modules described above are the same as examples and application scenarios realized by corresponding steps, but are not limited to what is disclosed in the foregoing embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a corresponding hardware environment, and may be implemented by software or hardware.

Through the above modules, a first coordinate system is established based on a first plane in which the first base station, the second base station, and the third base station are located, and then the distance measurement result based on the UWB communication ranging is adopted to determine (for example, the distance measurement result is determined by a triangular centroid method, a least square method, and the like) the coordinates of each base station and the mobile device. The whole establishing process of the positioning system can be automatically realized without manual participation, the problem of difficulty in networking deployment of the positioning system in the related technology can be solved, and the technical effect of the ad hoc network of the positioning system is further achieved.

Optionally, the mobile device has three dwell positions in the second plane, wherein the processing unit is further configured to: respectively rotating the coordinates of each base station in the base station set in the first coordinate system by using the rotation matrix to obtain updated coordinates of each base station in a third coordinate system, and respectively rotating the coordinates of each stop position of the mobile equipment in the first coordinate system by using the rotation matrix to obtain updated coordinates of each stop position in the third coordinate system; and translating and/or rotating the updated coordinates of each base station in the third coordinate system to obtain the coordinates of each base station in the second coordinate system, wherein the translation is realized by using the updated coordinates of each stop position.

Optionally, the processing unit is further configured to: acquiring the coordinate average value of the updated coordinates of the three stopping positions in the third coordinate system on the Z axis; and subtracting the coordinate average value from the coordinate on the Z axis in the updated coordinate of each base station in the third coordinate system to obtain the coordinate of each base station on the Z axis of the second coordinate system.

Optionally, the processing unit is further configured to: determining a target angle, wherein the coordinate of the second base station on the Y axis after rotating according to the target angle is 0; and rotating the coordinates on the X axis and the coordinates on the Y axis in the updated coordinates of the second base station, the third base station and the fourth base station in a third coordinate system according to the target angle to obtain the coordinates on the X axis and the Y axis of the second base station, the third base station and the fourth base station in the second coordinate system.

Optionally, the positioning unit is further configured to: determining coordinates of the first base station in the first coordinate system to be (0, 0); determining coordinates of the second base station on an X axis in the first coordinate system by using the device distance between the second base station and the first base station, wherein the coordinates of the second base station on a Y axis and a Z axis of the first coordinate system are 0; determining coordinates of the third base station on an X axis and a Y axis of the first coordinate system by using the device distances between the third base station and the first base station and between the third base station and the second base station respectively, wherein the coordinate of the third base station on a Z axis of the first coordinate system is 0; determining coordinates of a first stopping position in the first coordinate system by using device distances between the mobile device at the first stopping position and the first base station, the second base station and the third base station respectively; and determining the coordinates of the fourth base station in the first coordinate system by using the device distances between the fourth base station and the mobile device, the first base station, the second base station and the third base station respectively.

Optionally, the positioning unit is further configured to: determining coordinates of a second dwell position in the first coordinate system using distances between the mobile device at the second dwell position and the first base station, the second base station, the third base station, and the fourth base station, respectively; and determining coordinates of a third stopping position in the first coordinate system by using device distances between the mobile device and the first base station, the second base station, the third base station and the fourth base station respectively at the third stopping position, wherein the three stopping positions of the first stopping position, the second stopping position and the third stopping position are not on the same straight line.

Optionally, the determining unit is further configured to: determining a first normal vector of the first plane by using coordinates of the first base station, the second base station and the third base station in the first coordinate system, and determining a second normal vector of the second plane by using coordinates of three staying positions of the mobile equipment in the first coordinate system; determining a rotation matrix between the first plane and the second plane using the first normal vector and the second normal vector.

According to another aspect of the embodiments of the present application, there is also provided a server or a terminal for implementing the ad hoc network method of the beacon base station based positioning system.

Fig. 5 is a block diagram of a terminal according to an embodiment of the present application, and as shown in fig. 5, the terminal may include: one or more processors 501 (only one of which is shown in fig. 5), a memory 503, and a transmission means 505. As shown in fig. 5, the terminal may further include an input-output device 507.

The memory 503 may be used to store software programs and modules, such as program instructions/modules corresponding to the method and apparatus for ad hoc networking of a beacon base station based positioning system in this embodiment, and the processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 503, so as to implement the above-mentioned ad hoc networking method of a beacon base station based positioning system. The memory 503 may include high speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 503 may further include memory located remotely from the processor 501, which may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 505 is used for receiving or sending data via a network, and may also be used for data transmission between a processor and a memory. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 505 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmission device 505 is a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

Among them, the memory 503 is used to store an application program in particular.

The processor 501 may call the application stored in the memory 503 through the transmission means 505 to perform the following steps:

creating a first coordinate system by taking the first base station as a coordinate origin, wherein the second base station is located on an X axis of the first coordinate system, an X axis and a Y axis of the first coordinate system are located in the first plane, and a Z axis of the first coordinate system is perpendicular to the first plane;

respectively determining coordinates of each base station in the base station set and the mobile device in the first coordinate system based on device distances, wherein the device distances comprise a distance between two base stations and a distance between the mobile device and a base station;

determining a rotation matrix between the first plane and a second plane using coordinates of each base station in the set of base stations and the mobile device in the first coordinate system, wherein the second plane is a ground plane;

and processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile equipment in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the planes of the X axis and the Y axis in the second coordinate system are coincident with the second plane.

Optionally, for a specific example in this embodiment, reference may be made to the example described in the foregoing embodiment, and this embodiment is not described herein again.

It can be understood by those skilled in the art that the structure shown in fig. 5 is only an illustration, and the terminal may be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, and a Mobile Internet Device (MID), a PAD, etc. Fig. 5 is a diagram illustrating a structure of the electronic device. For example, the terminal may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 5, or have a different configuration than shown in FIG. 5.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, read-Only memories (ROMs), random Access Memories (RAMs), magnetic or optical disks, and the like.

Embodiments of the present application also provide a storage medium. Alternatively, in this embodiment, the storage medium may be used to execute a program code of an ad hoc network method of a beacon base station based positioning system.

Optionally, in this embodiment, the storage medium may be located on at least one of a plurality of network devices in a network shown in the above embodiment.

Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

and processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile equipment in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the plane where the X axis and the Y axis are located in the second coordinate system is coincident with the second plane.

In an alternative embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of any of the embodiments of the method described above.

Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

The above-mentioned serial numbers of the embodiments of the present application are merely for description, and do not represent the advantages and disadvantages of the embodiments.

The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the methods described in the embodiments of the present application.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.

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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. An ad hoc network method of a positioning system based on beacon base stations, wherein the positioning system comprises a base station set and a mobile device, the base station set comprises a fourth base station, a first base station, a second base station and a third base station, the heights of the fourth base station, the first base station, the second base station and the third base station are all different, and no actual height needs to be determined for any of the four base stations, the method comprising:

respectively determining coordinates of each base station in the base station set and the mobile device in the first coordinate system based on device distances, wherein the device distances comprise distances between two base stations and distances between the mobile device and each base station;

determining a rotation matrix between the first plane and a second plane by using coordinates of each base station in the base station set and the mobile device in the first coordinate system, wherein the second plane is a plane in which the mobile device is located;

processing the coordinates of each base station in the first coordinate system based on the rotation matrix and the coordinates of the mobile equipment in the first coordinate system, and determining the coordinates of each base station in a second coordinate system, wherein the planes of the X axis and the Y axis in the second coordinate system are coincident with the second plane;

the determining, based on the device distances, coordinates of each base station in the set of base stations and the mobile device in the first coordinate system, respectively, includes:

determining coordinates of the first base station in the first coordinate system to be (0, 0);

determining coordinates of the second base station on an X axis in the first coordinate system by using the device distance between the second base station and the first base station, wherein the coordinates of the second base station on a Y axis and a Z axis of the first coordinate system are 0;

determining coordinates of the third base station on an X axis and a Y axis of the first coordinate system by using device distances between the third base station and the first base station and between the third base station and the second base station, wherein the coordinate of the third base station on a Z axis of the first coordinate system is 0;

determining coordinates of a first dwell position in the first coordinate system using device distances between the mobile device at the first dwell position and the first base station, the second base station, and the third base station, respectively, wherein the mobile device has three dwell positions in the second plane, the three dwell positions including the first dwell position;

and determining the coordinates of the fourth base station in the first coordinate system by using the device distances between the fourth base station and the mobile device, the first base station, the second base station and the third base station respectively.

2. The method of claim 1, wherein processing the coordinates of the base stations in the first coordinate system based on the rotation matrix and the coordinates of the mobile device in the first coordinate system, and wherein determining the coordinates of the base stations in the second coordinate system comprises:

respectively rotating the coordinates of each base station in the base station set in the first coordinate system by using the rotation matrix to obtain updated coordinates of each base station in a third coordinate system, and respectively rotating the coordinates of each stop position of the mobile equipment in the first coordinate system by using the rotation matrix to obtain updated coordinates of each stop position in the third coordinate system, wherein the third coordinate system is obtained by rotating the first coordinate system by using the rotation matrix;

and translating and/or rotating the updated coordinates of each base station in the third coordinate system to obtain the coordinates of each base station in the second coordinate system.

3. The method of claim 2, wherein translating the updated coordinates of each base station in the third coordinate system to obtain the coordinates of each base station in the second coordinate system comprises:

acquiring the coordinate average value of the updated coordinates of the three stopping positions in the third coordinate system on the Z axis;

and subtracting the coordinate average value from the coordinate on the Z axis in the updated coordinate of each base station in the third coordinate system to obtain the coordinate of each base station on the Z axis of the second coordinate system.

4. The method of claim 2, wherein rotating the updated coordinates of each base station in the third coordinate system to obtain the coordinates of each base station in the second coordinate system comprises:

determining a target angle, wherein the coordinate of the second base station in the second coordinate system on the Y axis after rotating according to the target angle is 0;

and rotating the coordinates of the second base station, the third base station and the fourth base station on the X axis and the Y axis in the updated coordinates in the third coordinate system according to the target angle to obtain the coordinates of the second base station, the third base station and the fourth base station on the X axis and the Y axis of the second coordinate system.

5. The method of claim 1, wherein separately determining coordinates of each base station in the set of base stations and the mobile device in the first coordinate system based on device distance further comprises:

determining coordinates of a second stopping position in the first coordinate system by using device distances between the mobile device and the first base station, the second base station, the third base station and the fourth base station respectively at the second stopping position, wherein the three stopping positions comprise the second stopping position;

and determining coordinates of a third stopping position in the first coordinate system by using device distances between the mobile device and the first base station, the second base station, the third base station and the fourth base station respectively at the third stopping position, wherein the three stopping positions comprise the third stopping position, and the three stopping positions of the first stopping position, the second stopping position and the third stopping position are not on the same straight line.

6. The method of any one of claims 1 to 4, wherein determining the rotation matrix between the first plane and the second plane using the coordinates of each base station of the set of base stations and the mobile device in the first coordinate system comprises:

determining a first normal vector of the first plane by using coordinates of the first base station, the second base station and the third base station in the first coordinate system, and determining a second normal vector of the second plane by using coordinates of three staying positions of the mobile equipment in the first coordinate system;

determining a rotation matrix between the first plane and the second plane using the first normal vector and the second normal vector.

7. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 6.

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the method of any of the preceding claims 1 to 6 by means of the computer program.