Method and device for calibrating and positioning base station coordinate system
A technology for positioning base stations and calibrating devices, applied in the fields of lasers and electronics, can solve the problems of inconsistent coordinate systems of multiple positioning base stations and poor positioning effect, and achieve the effect of reducing the difficulty of calibration and reducing placement requirements.
Active Publication Date: 2020-08-07
SHANGHAI LEXIANG TECHNOLOGY CO LTD
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[0004] The present invention provides a method for calibrating and positioning base station coordinate systems, which is used to solve the problem of poor positioning effect caused by inconsistency of multiple positioning base station coordinate systems in the prior art
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[0056] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0057] The present invention provides a method for calibrating and positioning a base station coordinate system, which is applicable to a system including at least one positioning base station in an area; figure 1 mentioned, including:
[0058] Step 101, the calibration device determines a first transformation matrix according to the first attitude parameter of the positioning base station;
[0059] Step 102, the calibration device determ...
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The invention provides a method and device for calibrating the coordinate system of a positioning base station, and is applicable to a system including at least one positioning base station in a region. The method comprises the steps that a calibration device determines a first conversion matrix according to a first attitude parameter of the positioning base station; the calibration device determines a first vector of positioning modules under the first conversion matrix; the positioning modules are at least two laser receiving modules that are located on the same target device and are scannedby the positioning base station at the same time; the calibration device determines a second vector of the positioning modules in a world coordinate system through the posture of the target device; the calibration device determines a second conversion matrix of the positioning base station according to the first vector and the second vector; the second conversion matrix is corresponding to the second attitude parameter of the positioning base station; the calibration device determines a third conversion matrix of the positioning base station in the world coordinate system according to the first conversion matrix and the second conversion matrix. Compared with the prior art, the method reduces the calibration difficulty, and reduces the placement requirements for the target equipment.
Description
technical field [0001] The invention relates to the technical fields of laser and electronics, in particular to a method and device for calibrating and positioning a coordinate system of a base station. Background technique [0002] Virtual Reality (VR for short) technology is a technology that uses a computer to generate a simulated environment, and with the help of professional equipment, allows users to enter the virtual space, perceive and operate in real time, so as to obtain an immersive real experience. At present, the VR industry is in the start-up period. As a large number of VR devices have been mass-produced in the past two years and pushed to the consumer market, the industry is about to enter a period of rapid development. [0003] The most important feature of VR technology is its sense of immersion, and a positioning system with high precision and good real-time performance is an important part of realizing this feature. The accuracy of the laser positioning ...
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IPC IPC(8): H04W4/02H04W64/00H04W4/029
CPCH04W4/02H04W4/027H04W64/00H04W64/003H04W64/006
Inventor 刘超何风行陈玉琨
Owner SHANGHAI LEXIANG TECHNOLOGY CO LTD