CN114698099A - Rapid self-calibration method, system, medium and device for UWB mobile base station - Google Patents
Rapid self-calibration method, system, medium and device for UWB mobile base station Download PDFInfo
- Publication number
- CN114698099A CN114698099A CN202210605762.9A CN202210605762A CN114698099A CN 114698099 A CN114698099 A CN 114698099A CN 202210605762 A CN202210605762 A CN 202210605762A CN 114698099 A CN114698099 A CN 114698099A
- Authority
- CN
- China
- Prior art keywords
- base station
- dimensional
- calibration
- self
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000011159 matrix material Substances 0.000 claims abstract description 48
- 239000013598 vector Substances 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a rapid self-calibration method, a system, a medium and equipment of a UWB mobile base station, wherein the method comprises the following steps: establishing a three-dimensional relative coordinate system; acquiring the height of each base station on a z axis, and setting the coordinates of each base station; obtaining the distance between the base stations according to the coordinates of the base stations, and constructing a distance matrix according to the distance between the base stations; calculating a two-dimensional vector corresponding to each base station according to the distance matrix; and performing base station self-calibration according to the two-dimensional vector and the rotation matrix. The method and the device can solve the problem that a large amount of manpower and material resources are required to be consumed to accurately measure the positioning base station before UWB positioning, improve the universality and convenience of UWB positioning use, and improve the coordinate accuracy of the UWB positioning base station.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a rapid self-calibration method, a rapid self-calibration system, a rapid self-calibration medium and rapid self-calibration equipment for a UWB mobile base station.
Background
Currently, an indoor positioning method based on UWB (Ultra Wide Band ) is widely applied and researched due to the characteristics of good multipath effect resistance, high precision, no need of carrier modulation and the like. The indoor system based on UWB consists of at least three base stations and a plurality of labels, before positioning, the position of the base station is determined by precise measurement, the calibration of the position of the base station is difficult, and especially under the condition that no mark is on the ground, if the precise calibration of the coordinate of the positioning base station cannot be completed, the positioning precision of the positioning expression is seriously influenced.
The emergency positioning is one of key technologies necessary for emergency handling and rescue of major emergencies such as earthquakes, fires, mine disasters and the like, and the UWB positioning becomes one of the current solutions, so that the self-calibration technology of the UWB mobile base station is particularly important for realizing the application of UWB in the emergency scene.
In the prior art, before the accurate UWB positioning is realized, a large amount of manual measurement is needed to realize the accurate positioning of a positioning base station, and a measurement error is very easily introduced in the process; some places far away from the datum point or higher than the datum point cannot be obtained through manual measurement, or the difficulty is higher; in an emergency scene, the coordinates of the base station are generally difficult to measure, or a great deal of effort and time are needed to obtain the coordinates, so that the requirements of emergency rescue cannot be met.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a quick self-calibration method for a UWB mobile base station in a first aspect, which comprises the following steps:
establishing a three-dimensional relative coordinate system;
acquiring the height of each base station on the z axis, and setting the coordinates of each base station;
obtaining the distance between the base stations according to the coordinates of the base stations, and constructing a distance matrix according to the distance between the base stations;
calculating two-dimensional vectors corresponding to the base stations according to the distance matrix;
and performing base station self-calibration according to the two-dimensional vector and the rotation matrix.
Further, the step of establishing a three-dimensional relative coordinate system comprises the following steps:
optionally selecting two base stations in a field, and setting the two base stations as a base station 1 and a base station 2 respectively;
defining the ground as an xoy plane of a three-dimensional coordinate system;
projecting a straight line which passes through the base station 1 and the base station 2 on the ground at the same time is determined as an x-axis of a three-dimensional coordinate system, and a ground normal which passes through the base station 1 is determined as a z-axis of the three-dimensional coordinate system;
and obtaining the y-axis direction according to the right-hand rule.
Further, the step of obtaining the height of the base station on the z-axis and setting the coordinates of each base station includes the following steps:
the height z from the base station 1 to the ground is measured and obtained through a laser ranging module arranged in the base station1Base station 2 to ground height z2Height z from base station i to groundiAnd the height z of the base station j to the groundj；
Setting the three-dimensional coordinate of the base station 1 as (0,0, z) according to the height from each base station to the ground obtained by measurement1) The three-dimensional coordinates of the base station 2 are defined as (x)2,0,z2) The three-dimensional coordinate of the base station i is (x)i,yi,zi) The three-dimensional coordinate of the base station j is (x)j,yj,zj)。
Further, the step of obtaining the distance between the base stations according to the coordinates of the base stations and constructing a distance matrix according to the distance between the base stations includes the following steps:
the distance between every two base stations is obtained through mutual communication between UWB base stations;
and constructing a distance matrix between the base stations according to the distance between every two base stations.
Further, the step of calculating the two-dimensional vector corresponding to each base station according to the distance matrix includes the following steps:
and calculating two-dimensional vectors corresponding to each base station according to the distance matrix and the MDS algorithm, and outputting relative two-dimensional positions.
Further, the step of self-calibrating the base station according to the two-dimensional vector and the rotation matrix comprises the following steps:
calculating absolute coordinates according to the rotation matrix and the two-dimensional vector;
and carrying out base station self-calibration according to the absolute coordinates.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a rapid self-calibration method for a UWB movable base station, which solves the problem that UWB positioning money needs to consume a large amount of manpower and material resources to accurately measure the positioning base station, does not need to manually measure, and improves the universality and the convenience of UWB positioning use; and the coordinate precision of the UWB positioning base station is improved.
The second aspect of the present invention also provides a UWB mobile base station fast self-calibration system, comprising:
the creating module is used for creating a three-dimensional relative coordinate system;
the setting module is used for setting the coordinates of each base station;
the calculation module is used for obtaining a distance matrix between each base station and calculating a two-dimensional vector corresponding to each base station;
and the self-calibration module is used for self-calibrating the base station.
The third aspect of the present invention also provides a computer readable storage medium, which is a computer readable storage medium, on which a computer program is stored, and when the computer program is executed, the method for fast self-calibration of a mobile base station is implemented.
The fourth aspect of the present invention also provides a computer device, including:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the mobile base station fast self-calibration method of any one of the above.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a flow chart of a fast self-calibration method for a UWB mobile base station according to embodiment 1;
FIG. 2 is a schematic diagram of a UWB mobile base station fast self-calibration system according to embodiment 2;
fig. 3 is a schematic structural diagram of the computer device according to embodiment 4.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1
The embodiment discloses a rapid self-calibration method of a UWB mobile base station, which comprises the following steps:
s1, establishing a three-dimensional relative coordinate system;
s2, acquiring the height of each base station on the z axis, and setting the coordinates of each base station;
s3, obtaining the distance between the base stations according to the coordinates of the base stations, and constructing a distance matrix according to the distance between the base stations;
s4, calculating two-dimensional vectors corresponding to the base stations according to the distance matrix;
and S5, self-calibration of the base station is carried out according to the two-dimensional vector and the rotation matrix.
Specifically, step S1 includes the following steps:
s11, optionally selecting two base stations in the site, and setting the two base stations as a base station 1 and a base station 2 respectively;
s12, defining the ground as an xoy plane of a three-dimensional coordinate system;
s13, determining the projection of the straight line passing through the base station 1 and the base station 2 on the ground as the x axis of the three-dimensional coordinate system, and determining the ground normal passing through the base station 1 as the z axis of the three-dimensional coordinate system;
and S14, obtaining the y-axis direction according to the right hand rule.
Specifically, step S2 includes the following steps:
s21, obtaining base stations 1 to 1 through measurement by a laser ranging module built in the base stationHeight z of the ground1Base station 2 to ground height z2Height z from base station i to groundiAnd the height z of the base station j to the groundj；
S22, according to the height from each base station to the ground obtained by measurement, setting the three-dimensional coordinate of the base station 1 as (0,0, z)1) The three-dimensional coordinates of the base station 2 are defined as (x)2,0,z2) The three-dimensional coordinate of the base station i is (x)i,yi,zi) The three-dimensional coordinate of the base station j is (x)j,yj,zj)。
Specifically, step S3 includes the following steps:
s31, according to the set coordinates of each base station, obtaining the distance between every two base stations through mutual communication between UWB base stations, and setting the distance between every two base stations as dijWherein i =1,2,3, …, n, j =1,2,3, …, n;
s32, constructing a distance matrix between every two base stations according to the distance between every two base stations, and if the distance matrix is D, then
。
The time stamps of information sent and received are recorded between UWB base stations to obtain the flight time of UWB signals between the base stations, the distance between each base station is obtained by multiplying the flight time by the light speed, and the distance between each base station is collected to obtain a distance matrix.
Specifically, step S4 includes the following steps:
and S41, calculating the relative two-dimensional vector of each base station according to the distance matrix and the MDS algorithm, and outputting the relative two-dimensional position.
The MDS algorithm reduces dimensionality while maintaining the original relationship of the distance relationship between the base stations to obtain corresponding two-dimensional vectors, namely, the relative two-dimensional coordinates between the base stations.
Defining the two-dimensional space after dimensionality reduction as Z, setting an inner product matrix B in the Z space,
matrix B including elements
Then the distance between base station i and base station j can be expressed as:
for the
Item, pair
Sum i from 1 to n:
tr (B) represents the trace of the B matrix, the sum of the diagonal elements.
In the same way, pair
Sum j from 1 to n:
the sum of i is again given by:
simplifying:
the combination of the upper formula:
and (4) solving an inner product matrix B from the original space distance matrix D through the calculation. Due to the fact that
And at the moment, carrying out characteristic value decomposition on B:
wherein Λ is a diagonal matrix formed by the characteristic values, and then:
in the above embodiment, the two-dimensional space Z is obtained by calculation, and a two-dimensional vector can be output.
Specifically, step S5 includes the following steps:
s51, calculating absolute coordinates of each base station according to the rotation matrix and the relative two-dimensional vector;
and S52, obtaining the three-dimensional coordinates of each base station according to the absolute coordinates and the height z measured by the laser ranging module, and realizing the self-calibration of the base stations.
In the above embodiment, the base station 1 and the base station 2 are assumed to be anchor base stations, and the anchor base stations provide a priori values of absolute coordinates, that is, the coordinates of the anchor base stations can be known in advance, or relative coordinates of other base stations are converted into absolute coordinates based on the coordinates (i.e., absolute coordinates) of the anchor base stations through manual setting.
Anchor bases are knownThe absolute coordinates and the relative coordinates of the station are descentrized to obtain a new point set X = { X =iAnd Y = { Y =iAnd solving a transfer matrix t according to the point sets X and Y:
wherein,
、
for the central value of the transition matrix to be,
and
in order to remove the coordinates after the centralization,w i in order to be a weight coefficient of the image,p i in relative coordinatesx i ，q i In relative coordinatesy i 。
From this, the transfer matrix is
。
The rotation matrix R can be found by Singular Value Decomposition (SVD):
where H is the covariance matrix between the sets of points X and Y, S is the singular value of H, and V and U are the singular vectors in H, respectively.
Calculating the absolute coordinates of each base station according to the relative two-bit vector of each base station, the absolute coordinates of the anchor base station, the rotation matrix R and the transfer matrix t:
wherein x and y are coordinate matrixes in a relative coordinate system, x 'and y' are coordinate matrixes in an absolute coordinate system, and the self-calibration of the position of the base station is realized according to the obtained absolute coordinate.
The method and the device can solve the problem that a large amount of manpower and material resources are consumed to accurately measure the positioning base station before UWB positioning, and improve the universality and convenience of the use of the UWB positioning system and the precision of the UWB positioning system.
When the UWB mobile positioning base station is used in an emergency scene, the UWB mobile positioning base station can be deployed rapidly, and rapid self-positioning and rapid deployment of the UWB mobile base station in the emergency scene are realized.
The invention can make the self-calibration of the UWB mobile base station coordinate reach centimeter level; the position of the base station can be calibrated automatically, and manual measurement is not needed; the method has certain base station number expansibility and still has good performance under the condition of a plurality of base stations; the base station deployment cost in an emergency environment can be reduced, and the base station deployment time is shortened.
Example 2
This embodiment discloses a UWB mobile base station fast self-calibration system, which can be used to execute the UWB mobile base station fast self-calibration method in embodiment 1, and for details not disclosed in this system embodiment, please refer to embodiment 1; the UWB mobile base station fast self-calibration system comprises: the system comprises a creation module 1, a setting module 2, a calculation module 3 and a self-calibration module 4; the establishing module 1 is used for establishing a three-dimensional relative coordinate system, the setting module 2 is used for setting coordinates of each base station, the calculating module 3 is used for calculating a distance matrix between each base station and a two-dimensional vector corresponding to each base station, and the self-calibrating module 4 is used for self-calibrating the base stations.
Specifically, the creating module 1 implements the functions by the following steps:
and establishing a three-dimensional relative coordinate system.
In the above embodiment, the setting module 2 implements the functions by the following steps:
the height of each base station on the z-axis is obtained, and the coordinates of each base station are set.
Specifically, the calculation module 3 implements the functions by the following steps:
obtaining the distance between the base stations according to the coordinates of the base stations, and constructing a distance matrix according to the distance between the base stations;
and calculating the two-dimensional vector corresponding to each base station according to the distance matrix.
In the above embodiment, the self-calibration module 4 implements the functions by the following steps:
and performing base station self-calibration according to the two-dimensional vector and the rotation matrix.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, a division of modules is merely a logical division, and an actual implementation may have another division, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented.
Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Example 3
The present embodiment discloses a computer-readable storage medium, which is a computer-readable storage medium, and on which a computer program is stored, and when the computer program is executed, the method for fast self-calibration of a UWB mobile base station in embodiment 1 is implemented.
Optionally, the computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a Solid State Drive (SSD), or an optical disc. The Random Access Memory may include a resistive Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM).
Example 4
The embodiment discloses a computer device, including: a processor and a memory for storing the processor-executable instructions; the processor is configured to execute instructions to implement the UWB mobile base station fast self-calibration method in embodiment 1.
Those skilled in the art will recognize that the functionality described in the embodiments of the present application may be implemented in hardware, software, firmware, or any combination thereof, in one or more of the examples described above. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. A rapid self-calibration method for a UWB mobile base station is characterized by comprising the following steps:
establishing a three-dimensional relative coordinate system;
acquiring the height of each base station on the z axis, and setting the coordinates of each base station;
obtaining the distance between the base stations according to the coordinates of the base stations, and constructing a distance matrix according to the distance between the base stations;
calculating two-dimensional vectors corresponding to the base stations according to the distance matrix;
and performing base station self-calibration according to the two-dimensional vector and the rotation matrix.
2. The method for fast self-calibration of a mobile base station as claimed in claim 1, wherein said step of establishing a three-dimensional relative coordinate system comprises the steps of:
optionally selecting two base stations in a field, and setting the two base stations as a base station 1 and a base station 2 respectively;
defining the ground as an xoy plane of a three-dimensional coordinate system;
projecting a straight line which passes through the base station 1 and the base station 2 on the ground at the same time is determined as an x-axis of a three-dimensional coordinate system, and a ground normal which passes through the base station 1 is determined as a z-axis of the three-dimensional coordinate system;
and obtaining the y-axis direction according to the right-hand rule.
3. The method for fast self-calibration of a movable base station as claimed in claim 2, wherein the step of obtaining the height of the base station on the z-axis and setting the coordinates of each base station comprises the steps of:
measuring by a laser ranging module arranged in the base station to obtain the height z1 from the base station 1 to the ground, the height z2 from the base station 2 to the ground, the height zi from the base station i to the ground and the height zj from the base station j to the ground;
according to the height from each base station to the ground obtained by measurement, the three-dimensional coordinate of the base station 1 is set to be (0,0, z1), the three-dimensional coordinate of the base station 2 is defined to be (x2,0, z2), the three-dimensional coordinate of the base station i is (xi, yi, zi), and the three-dimensional coordinate of the base station j is (xj, yj, zj).
4. The method for rapid self-calibration of a mobile base station according to claim 3, wherein the step of obtaining the distance between the base stations according to the coordinates of the base stations and constructing the distance matrix according to the distance between the base stations comprises the following steps:
the distance between every two base stations is obtained through mutual communication between UWB base stations;
and constructing a distance matrix between the base stations according to the distance between every two base stations.
5. The method for fast self-calibration of a mobile base station according to claim 1, wherein said step of calculating a two-dimensional vector corresponding to each base station based on said distance matrix comprises the steps of:
and calculating two-dimensional vectors corresponding to each base station according to the distance matrix and the MDS algorithm, and outputting relative two-dimensional positions.
6. The method of claim 1, wherein the step of performing base station self-calibration according to the two-dimensional vector and the rotation matrix comprises the steps of:
calculating absolute coordinates of each base station according to the rotation matrix and the two-dimensional vector;
and obtaining the three-dimensional coordinates of each base station according to the absolute coordinates, and performing base station self-calibration.
7. A UWB mobile base station fast self-calibration system is characterized by comprising:
the creating module is used for creating a three-dimensional relative coordinate system;
the setting module is used for setting the coordinates of each base station;
the calculation module is used for obtaining a distance matrix between each base station and calculating a two-dimensional vector corresponding to each base station;
and the self-calibration module is used for self-calibrating the base station.
8. A computer-readable storage medium, characterized in that it is a computer-readable storage medium, on which a computer program is stored, which, when executed, implements a method for fast self-calibration of a mobile base station according to any one of claims 1-6.
9. A computer device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the method of fast self-calibration of a mobile base station as claimed in any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605762.9A CN114698099A (en) | 2022-05-31 | 2022-05-31 | Rapid self-calibration method, system, medium and device for UWB mobile base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605762.9A CN114698099A (en) | 2022-05-31 | 2022-05-31 | Rapid self-calibration method, system, medium and device for UWB mobile base station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114698099A true CN114698099A (en) | 2022-07-01 |
Family
ID=82131343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210605762.9A Pending CN114698099A (en) | 2022-05-31 | 2022-05-31 | Rapid self-calibration method, system, medium and device for UWB mobile base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114698099A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117528413A (en) * | 2023-10-13 | 2024-02-06 | 大连浩如科技有限公司 | UWB base station self-calibration method based on multidimensional scale transformation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123341A (en) * | 2019-11-15 | 2020-05-08 | 西安电子科技大学 | Three-dimensional co-location method for unmanned aerial vehicle group |
| CN112533288A (en) * | 2020-12-26 | 2021-03-19 | 中北大学 | Self-calibration method for mobile base station position applied to UWB positioning |
| CN112731500A (en) * | 2020-12-30 | 2021-04-30 | 西安电子科技大学 | Method for three-dimensional positioning of outdoor unmanned aerial vehicle and indoor unmanned aerial vehicle |
| CN113009538A (en) * | 2021-01-20 | 2021-06-22 | 西安电子科技大学 | Vehicle traffic positioning system |
| CN113038373A (en) * | 2021-03-15 | 2021-06-25 | 浙江大学 | Two-dimensional base station cooperative positioning method and device, electronic equipment and storage medium |
| WO2021244331A1 (en) * | 2020-06-02 | 2021-12-09 | Oppo广东移动通信有限公司 | Positioning service method, and related apparatus |
-
2022
- 2022-05-31 CN CN202210605762.9A patent/CN114698099A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123341A (en) * | 2019-11-15 | 2020-05-08 | 西安电子科技大学 | Three-dimensional co-location method for unmanned aerial vehicle group |
| WO2021244331A1 (en) * | 2020-06-02 | 2021-12-09 | Oppo广东移动通信有限公司 | Positioning service method, and related apparatus |
| CN112533288A (en) * | 2020-12-26 | 2021-03-19 | 中北大学 | Self-calibration method for mobile base station position applied to UWB positioning |
| CN112731500A (en) * | 2020-12-30 | 2021-04-30 | 西安电子科技大学 | Method for three-dimensional positioning of outdoor unmanned aerial vehicle and indoor unmanned aerial vehicle |
| CN113009538A (en) * | 2021-01-20 | 2021-06-22 | 西安电子科技大学 | Vehicle traffic positioning system |
| CN113038373A (en) * | 2021-03-15 | 2021-06-25 | 浙江大学 | Two-dimensional base station cooperative positioning method and device, electronic equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117528413A (en) * | 2023-10-13 | 2024-02-06 | 大连浩如科技有限公司 | UWB base station self-calibration method based on multidimensional scale transformation |
| CN117528413B (en) * | 2023-10-13 | 2024-07-30 | 大连浩如科技有限公司 | UWB base station self-calibration method based on multidimensional scale transformation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490473B (en) | GNSS and UWB integrated unmanned aerial vehicle enhanced positioning method and system | |
| US8942172B2 (en) | Method for positioning mobile device in wireless wide area network | |
| CN105954717B (en) | Location acquiring method and device | |
| CN111352069B (en) | Indoor positioning method, server, storage medium and program product | |
| CN109655786B (en) | Mobile ad hoc network cooperation relative positioning method and device | |
| CN106796102A (en) | A kind of method and device for measuring dimension of object | |
| US10386713B2 (en) | Method of providing initial bias value for optical proximity correction, and mask fabricating method with optical proximity correction based on the initial bias value | |
| US20140274128A1 (en) | Indoor localization method and system | |
| CN109379711A (en) | A kind of localization method | |
| CN114698099A (en) | Rapid self-calibration method, system, medium and device for UWB mobile base station | |
| CN115134741A (en) | UWB base station anomaly detection method and electronic equipment | |
| Zhou et al. | Device-to-device cooperative positioning via matrix completion and anchor selection | |
| KR100953435B1 (en) | Positioning method with combination of AoA and ToA using two base station | |
| CN108469600B (en) | Dynamic network relative positioning method | |
| CN111308418A (en) | Steady method for two-dimensional positioning of target with unknown height | |
| CN108447126B (en) | Laser point cloud precision evaluation method of mobile measurement system based on reference plane | |
| CN112424628A (en) | Positioning device | |
| CN104812060B (en) | A kind of wireless location method and device based on data fusion | |
| CN106550447B (en) | Terminal positioning method, device and system | |
| CN111609849A (en) | Multi-station rendezvous positioning method and system | |
| CN116930864A (en) | Indoor and outdoor seamless unified reference construction method and device | |
| CN116017693A (en) | Mobile base station positioning method and device, computer equipment and mobile base station | |
| Stamatopoulos et al. | On the self-calibration of long focal length lenses | |
| CN115267652A (en) | Angle measuring method, foldable device, storage medium and computer program product | |
| CN111929642A (en) | L in hybrid LOS/NLOS scenariosPNorm positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220701 |