CN114071392B - UWB indoor high-precision three-dimensional live-action data construction method and system - Google Patents

Abstract

The application discloses a UWB indoor high-precision three-dimensional live-action data construction method and system, wherein the method comprises the following steps: positioning the position of a target building on the BIM data graph, and acquiring the geodetic coordinates of the target building; selecting a datum point from a target building, and establishing positioning association of the datum point and a geodetic coordinate; acquiring an indoor panoramic image of the area where the datum point is located through panoramic image equipment; establishing an indoor three-dimensional coordinate system of the area where the datum point is located; acquiring a target position of an indoor target by using a UWB positioning technology, and marking the target position in an indoor three-dimensional coordinate system; converting the indoor three-dimensional coordinate system into an indoor cambered surface three-dimensional coordinate system, and then carrying out superposition processing on the indoor panoramic image to complete the construction of indoor high-precision three-dimensional live-action data. The system comprises a building positioning module, an indoor target positioning module, a BIM data graph and a display module; the indoor image is displayed in a 360-degree panoramic mode, and the position and the surrounding environment of the indoor target are accurately distinguished.

Description

A UWB indoor high-precision three-dimensional real scene data construction method and system

technical field

The application belongs to the technical field of communication positioning, and specifically relates to a UWB indoor high-precision three-dimensional real-scene data construction method and system.

Background technique

At present, the widely used satellite positioning systems mainly include the GPS system, the Beidou satellite navigation system independently developed by my country and the Russian GLONASS system, and the technology is relatively mature.

However, these three types of navigation technologies are basically only used outdoors. This is mainly due to the obstruction and shielding of satellite signals by buildings, which makes it difficult to obtain satellite signals in buildings. At the same time, the positioning in buildings is very high-precision positioning. The positioning accuracy is even at the centimeter level. GPS, Beidou, and GLONASS cannot meet the accuracy requirements.

At present, the indoor positioning technology of buildings is relatively rough. It can only display the approximate position of the target, and it is difficult to combine with the three-dimensional structure of the building, and it cannot be accurately associated with the geodetic positioning, resulting in a disconnect between satellite positioning and indoor positioning.

How to precisely combine outdoor positioning with indoor positioning on the basis of existing positioning technology, and how to locate indoor targets in the form of indoor scene reproduction has become the focus of research in this field.

Contents of the invention

This application proposes a method and system for constructing UWB indoor high-precision 3D real scene data. Firstly, outdoor positioning is associated with a specific building, and then indoor scene reproduction and indoor target positioning are performed simultaneously in the building, thereby forming an integrated indoor and outdoor precise positioning.

In order to achieve the above object, the application provides the following scheme:

A method for constructing UWB indoor high-precision three-dimensional real-scene data, comprising the steps of:

Locate the position of the target building on the BIM data map, and obtain the geodetic coordinates of the target building;

Selecting a reference point in the target building, and establishing a positioning association between the reference point and the geodetic coordinates, the geodetic coordinates being the building coordinates of the target building;

Obtain an indoor panoramic image of the area where the reference point is located through a panoramic image device;

Establishing an indoor three-dimensional coordinate system of the area where the reference point is located;

UWB positioning technology is used to obtain the target position of the indoor target, and the target position is marked in the indoor three-dimensional coordinate system;

According to the visual curvature of the panoramic image device, the indoor three-dimensional coordinate system is converted into an indoor arc surface three-dimensional coordinate system corresponding to the indoor panoramic image, and then the indoor panoramic image and the indoor arc surface three-dimensional coordinate system are superimposed to obtain the panoramic positioning of the indoor target in the indoor panoramic image and the indoor arc surface three-dimensional coordinate system, and complete the construction of indoor high-precision three-dimensional real scene data.

Optionally, when the positioning association cannot be established between the reference point and the earth coordinates, the earth coordinates are adjusted until the positioning association is established between the reference point and the earth coordinates.

Optionally, the BIM data graph adopts a three-dimensional map representation.

Optionally, a reference point for selecting the target building is located at the center of the top of each space area in the target building, and at the center of the top of the entire target building.

Optionally, in each of the spatial regions, the UWB positioning technology uses three UWB positioning base stations to establish three-dimensional spatial positioning;

The target position includes the three-dimensional coordinate position of the indoor target and the distance and relative angle between the indoor target and each UWB positioning base station.

On the other hand, in order to achieve the above purpose, the present application also provides a UWB indoor high-precision three-dimensional real scene data construction system, including a building positioning module, an indoor target positioning module, a BIM data map and a display module;

The BIM data map is used to provide earth map data;

The building positioning module is used to locate the position of the target building through the BIM data map, and obtain the geodetic coordinates of the target building;

The indoor target positioning module is used to obtain the panoramic positioning of the indoor target in the panoramic image of the target building;

The display module is used to display the target building and the panoramic positioning.

Optionally, the BIM data graph adopts a three-dimensional map representation.

Optionally, the indoor target positioning module includes a coordinate system unit, a panoramic image unit, a UWB positioning unit and a panoramic positioning unit;

The coordinate system unit is used to establish an indoor three-dimensional coordinate system, and the origin of the indoor three-dimensional coordinate system is located on the roof of the center of each space area of the target building;

The panoramic image unit is used to acquire indoor panoramic images, and the panoramic image unit is located at the origin of the indoor three-dimensional coordinate system;

The UWB positioning unit is used to obtain the target position of the indoor target;

The coordinate system unit is also used to mark the target position in the indoor three-dimensional coordinate system;

The panoramic positioning unit is configured to convert the indoor three-dimensional coordinate system marked with the target position into an indoor arc surface three-dimensional coordinate system according to the visual curvature of the panoramic image unit, and superimpose the indoor panoramic image and the indoor arc surface three-dimensional coordinate system to obtain the panoramic positioning of the indoor target in the indoor panoramic image.

Optionally, the UWB positioning unit includes a UWB server, a UWB base station and a UWB tag;

The UWB base station communicates with the UWB tag, and the UWB base station is used to obtain the distance between the UWB tag and the UWB base station;

The UWB positioning unit includes three UWB base stations;

The UWB server is configured to obtain the target position of the UWB tag according to the distances between the UWB tag and the three UWB base stations.

Optionally, the target position includes the three-dimensional coordinate position of the indoor target and the distance and relative angle between the indoor target and each UWB positioning base station.

The beneficial effect of this application is:

This application discloses a UWB indoor high-precision three-dimensional real-scene data construction method and system. First, outdoor positioning is associated with a specific building, and then indoor scene reproduction and indoor target positioning are performed simultaneously in the building, thereby forming an integrated indoor and outdoor precise positioning. At the same time, since indoor positioning is based on a panoramic image, it can not only present indoor images in the form of ³⁶⁰⁰ panoramas, but also accurately identify and analyze the location of indoor targets and surrounding environments, and also enhances the immersive experience of users.

Description of drawings

In order to illustrate the technical solution of the present application more clearly, the accompanying drawings used in the embodiments are briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other accompanying drawings can also be obtained according to these drawings without paying creative labor.

FIG. 1 is a schematic flow chart of a method for constructing UWB indoor high-precision three-dimensional real scene data according to Embodiment 1 of the present application;

FIG. 2 is an example of an indoor room of a building in Embodiment 1 of the present application;

FIG. 3 is a schematic structural diagram of a UWB indoor high-precision 3D real-scene data construction system according to Embodiment 2 of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In order to make the above objects, features and advantages of the present application more obvious and comprehensible, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

Embodiment one

As shown in Figure 1, it is a schematic flow chart of the UWB indoor high-precision three-dimensional real-scene data construction method in Embodiment 1 of the present application, which mainly includes the following steps:

First, use the conventional BIM data map to locate the target building, and obtain the geodetic coordinates of the target building through the BIM data. The coordinates are provided by the BIM data map and can be in the form of latitude and longitude.

The BIM data map can display the location of the target building and its surrounding environment on the map in the form of a three-dimensional real scene, and can even dynamically update the real-time scene.

Subsequently, after the positioning of the BIM data map of the target building is completed, the geodetic coordinates can be associated with a reference point selected in the target building, that is, the geodetic coordinates can be regarded as the coordinates of the target building. However, there may be deviations in the positioning of the BIM data map. For example, due to scale or visual effects, the reference point of the selected target building cannot be linked with the geodetic coordinates. At this time, the geodetic coordinates can be manually fine-tuned until the reference point and the geodetic coordinates are positioned.

In this embodiment, the reference point of the selected target building is located at the top of the center of each space area in the target building, such as the center position of the roof of each room in the target building, and the center position of the roof of the entire building, wherein the reference point of the roof center of the entire building is used as the coordinates of the entire building, and the reference point of the roof center of the room is used as the coordinates of the room.

On the basis of the reference point, establish a panoramic image of the area where the reference point is located. The following uses a room as an example to illustrate:

Taking room A in Figure 2 as an example, by adjusting the relationship between the geodetic coordinates and the reference point A' of room A, the geodetic coordinates of the building can be regarded as the coordinates of room A. Taking the reference point A' as the origin, the indoor panoramic image of the entire room A is acquired through the panoramic image device. The panoramic imaging device can use a commercially available mature panoramic camera. The panoramic camera usually adopts a dual-lens setting to take two images of 180 ^° areas respectively, and then synthesize a whole 360 ^° panoramic image. However, due to the distance between the surrounding image and the shooting point, when watching the panoramic image, the same position on the panoramic image photo will show a certain visual displacement due to the change of the angle of view, which is a normal visual curvature.

Then take the reference point A' as the origin to establish the indoor three-dimensional coordinate system of the room A. Since the reference point A' is located at the center of the roof, the z-axis coordinates of the three-dimensional coordinate system are negative values, and the x-axis and y-axis coordinates also have positive and negative values. The unit length of the coordinates can adopt the accuracy of the UWB positioning technology used later.

UWB positioning technology is currently a commonly used precision positioning technology in a small area. There are many mature products and technical solutions on sale, which can be used in this embodiment. In order to achieve accurate three-dimensional positioning, in this embodiment, a composition of three UWB positioning base stations is used, two of which are located at the two opposite roof corners of the room, and one is located at the ground corner of the room. The target position of the indoor target includes the distance and angle between the position and each positioning base station, and the three-dimensional coordinate position relative to the reference point A'. If necessary, it can also be associated with the positioning base station of the entire building or other rooms to obtain a three-dimensional coordinate position representation from multiple angles.

Through the UWB positioning technology, the precise position of the indoor target can be obtained, and the coordinates of the position can be marked in the above-mentioned indoor three-dimensional coordinate system.

The three-dimensional coordinate system marked with indoor targets is a standard spatial coordinate system, and it cannot be associated with the previously acquired panoramic images. The reason is that the visual curvature mentioned above makes the three-dimensional coordinates unable to adapt to changes in visual angles, resulting in positional deviations. Therefore, it is necessary to modify the three-dimensional coordinate system. According to the visual changes of the panoramic image equipment during the process of building the panoramic image and watching the panoramic image, the three-dimensional coordinate system is corrected to establish the same arc-surface three-dimensional coordinate system as the panoramic image, so that the three-dimensional coordinate system can also be adjusted accordingly with the change of the visual angle. At this point, the previous panoramic image and the transformed three-dimensional coordinate system of the curved surface can be superimposed to obtain the panoramic positioning of the indoor target in the indoor panoramic image and the three-dimensional coordinate system of the indoor curved surface. At this time, what the user sees is a target positioning in a ³⁶⁰⁰ panoramic image.

Based on the above-mentioned integrated indoor and outdoor positioning method, the outdoor positioning and three-dimensional display can be completed with the help of the existing BIM data map, and the precise indoor positioning can also be established, which can be presented in the form of panoramic images.

Embodiment two

As shown in Figure 3, it is a schematic structural diagram of the UWB indoor high-precision 3D real-scene data construction system according to Embodiment 2 of the present application, which mainly includes a building positioning module, an indoor target positioning module, a BIM data map and a display module.

The specific introduction of each module in this embodiment is as follows:

The BIM data map can use conventional BIM data map software to provide earth map data, locate the target building, and obtain the earth coordinates of the target building through BIM data. The coordinates are provided by the BIM data map and can be in the form of latitude and longitude. Any BIM data map with navigation and positioning functions is acceptable, such as Baidu, AutoNavi, etc. These maps can display the location of the target building and its surrounding environment on the map in the form of a three-dimensional real scene, and can even dynamically update the real-time scene.

The building positioning module is used to locate the position of the target building through the BIM data map, and obtain the geodetic coordinates of the target building through the BIM data. In this embodiment, a reference point is set in the building, and the reference point is associated with the geodetic coordinate of the building, and the geodetic coordinate is the building coordinate.

The indoor target positioning module is used to obtain the panoramic positioning of the indoor target in the panoramic image of the target building. In this embodiment, it includes a coordinate system unit, a panoramic image unit, a UWB positioning unit and a panoramic positioning unit.

The coordinate system unit is used to establish an indoor three-dimensional coordinate system. The origin of the indoor three-dimensional coordinate system is located on the roof of the center of each space area of the target building; therefore, the z-axis coordinates of the three-dimensional coordinate system are negative, and the x and y-axis coordinates will also have positive and negative values. The unit length of the coordinates can adopt the accuracy of the UWB positioning unit used later.

The panoramic image unit is used to acquire the indoor panoramic image, and the panoramic image unit is located at the origin of the indoor three-dimensional coordinate system. The panoramic image unit can use a commercially available panoramic camera and other panoramic image equipment. This type of panoramic image equipment usually adopts a dual-lens setup to take two 180 ^° area image photos respectively, and then synthesize an overall 360 ^° panoramic image photo. However, due to the distance between the surrounding image and the shooting point, when watching the panoramic image, the same position on the panoramic image photo will show a certain visual displacement due to the change of the angle of view, which is a normal visual curvature.

The UWB positioning unit is used to obtain the target position of the indoor target; UWB positioning technology is a commonly used precision positioning technology in a small range at present, and there are many mature products and technical solutions on sale, which can be used in this embodiment. A conventional UWB positioning unit includes a UWB server, a UWB base station and a UWB tag. In this embodiment, three UWB base stations are used to construct three-dimensional positioning, two are located at the two opposite roof corners of the room, and one is located at the ground corner of the room. The UWB base station communicates with the UWB tag, and the UWB base station is used to obtain the distance between the UWB tag and the UWB base station; the UWB server is used to obtain the target position of the UWB tag according to the distance between the UWB tag and the three UWB base stations. In this embodiment, the target position includes the distance and angle between the position and each positioning base station, and the three-dimensional coordinate position relative to the reference point. If necessary, it can also be associated with the positioning base station of the entire building or other rooms to obtain a three-dimensional coordinate position representation from multiple angles.

After acquiring the coordinate position, the coordinate system unit marks the target position in the indoor three-dimensional coordinate system.

The panoramic positioning unit is used to convert the indoor three-dimensional coordinate system marked with the target position into the indoor arc surface three-dimensional coordinate system according to the visual curvature of the panoramic image device, so that the three-dimensional coordinate system can also be adjusted accordingly with the change of the visual angle. Then, the indoor panoramic image and the three-dimensional coordinate system of the indoor arc surface are superimposed, and the panoramic positioning of the indoor target in the indoor panoramic image is obtained. At this time, what the user sees is a target positioning in a ³⁶⁰⁰ panoramic image.

Finally, the accurate positioning of the target building on the BIM data map and the 360 ^° panoramic positioning of the indoor target in the building can be displayed through the display module. A conventional display device can be used, and preferably, it can have a touch function to provide a better experience.

The above-mentioned embodiments are only a description of the preferred mode of the application, and are not intended to limit the scope of the application. Without departing from the design spirit of the application, various deformations and improvements made by those skilled in the art to the technical solution of the application should fall within the scope of protection determined by the claims of the application.

Claims (8)

1. A UWB indoor high-precision three-dimensional real scene data construction method is characterized in that, comprising the steps: Locate the position of the target building on the BIM data map, and obtain the geodetic coordinates of the target building; Selecting a reference point in the target building, and establishing a positioning association between the reference point and the geodetic coordinates, the geodetic coordinates being the building coordinates of the target building; Obtain an indoor panoramic image of the area where the reference point is located through a panoramic image device; Establishing an indoor three-dimensional coordinate system of the area where the reference point is located; UWB positioning technology is used to obtain the target position of the indoor target, and the target position is marked in the indoor three-dimensional coordinate system; According to the visual curvature of the panoramic image device, the indoor three-dimensional coordinate system is converted into an indoor arc surface three-dimensional coordinate system corresponding to the indoor panoramic image, and then the indoor panoramic image and the indoor arc surface three-dimensional coordinate system are superimposed to obtain the panoramic positioning of the indoor target in the indoor panoramic image and the indoor arc surface three-dimensional coordinate system, and complete the construction of indoor high-precision three-dimensional real scene data. 2. UWB indoor high-precision three-dimensional real-scene data construction method according to claim 1, is characterized in that, when described reference point and described geodetic coordinate can not establish described location association, adjust described geodetic coordinate, until described reference point and described geodetic coordinate establish described location association. 3. The UWB indoor high-precision three-dimensional real scene data construction method according to claim 1, wherein the BIM data map adopts a three-dimensional map representation. 4. UWB indoor high-precision three-dimensional real-scene data construction method according to claim 1, is characterized in that, a datum point of described selecting target building is positioned at the center of the top of each spatial region in the described target building, and the center position of the top of the whole described target building. 5. the UWB indoor high-precision three-dimensional real scene data construction method according to claim 4, is characterized in that, in each described space area, described UWB positioning technology all adopts three UWB positioning base stations to set up three-dimensional space positioning; The target position includes the three-dimensional coordinate position of the indoor target and the distance and relative angle between the indoor target and each UWB positioning base station. 6. A UWB indoor high-precision three-dimensional real scene data construction system is characterized in that, comprising a building positioning module, an indoor target positioning module, a BIM data map and a display module; The BIM data map is used to provide earth map data; the BIM data map adopts a three-dimensional map representation; The building positioning module is used to locate the position of the target building through the BIM data map, and obtain the geodetic coordinates of the target building; The indoor target positioning module is used to obtain the panoramic positioning of the indoor target in the panoramic image of the target building, including a coordinate system unit, a panoramic image unit, a UWB positioning unit and a panoramic positioning unit; the coordinate system unit is used to establish an indoor three-dimensional coordinate system, and the origin of the indoor three-dimensional coordinate system is located on the roof of the center of each spatial area of the target building; the panoramic image unit is used to obtain indoor panoramic images, and the panoramic image unit is located at the origin of the indoor three-dimensional coordinate system; the UWB positioning unit is used to obtain the target position of the indoor target; The position is marked in the indoor three-dimensional coordinate system; the panoramic positioning unit is used to convert the indoor three-dimensional coordinate system marked with the target position into an indoor three-dimensional coordinate system according to the visual curvature of the panoramic image unit, and superimpose the indoor panoramic image and the indoor three-dimensional coordinate system to obtain the panoramic positioning of the indoor target in the indoor panoramic image; The display module is used to display the target building and the panoramic positioning. 7. UWB indoor high-precision three-dimensional real-scene data construction system according to claim 6, is characterized in that, described UWB positioning unit comprises UWB server, UWB base station and UWB tag; The UWB base station communicates with the UWB tag, and the UWB base station is used to obtain the distance between the UWB tag and the UWB base station; The UWB positioning unit includes three UWB base stations; The UWB server is configured to obtain the target position of the UWB tag according to the distances between the UWB tag and the three UWB base stations. 8. The UWB indoor high-precision three-dimensional real scene data construction system according to claim 7, wherein the target position includes the three-dimensional coordinate position of the indoor target and the distance and relative angle of the indoor target from each UWB positioning base station.