Indoor wireless positioning device and method

Abstract

The present application discloses an indoor wireless positioning device, which installs an indoor wireless base station on a portable foldable bracket. When in use, the bracket only needs to be opened, placed indoors and powered to realize indoor positioning of tags. The base station of the indoor wireless positioning system can be quickly installed to achieve the purpose of quickly deploying the indoor wireless positioning system. The present invention also provides an indoor wireless positioning method. After configuring the initial coordinate position, each time a new system is deployed, it is only necessary to configure the coordinate position of the base station of the new system relative to the moving vector of the initial coordinate position into the system to obtain the position of the tag to be measured. Moreover, the indoor wireless positioning device provided in the embodiment of the present application makes it easy to install each base station, and the measurement of relative position is accurate and convenient.

Description

Technical Field

[0001] The invention relates to a positioning system deployment method, and in particular to an indoor wireless positioning device and method. Background Art

[0002] At present, indoor wireless positioning technologies include infrared, ultrasonic, Zigbee, Wi-Fi, Bluetooth, RFID (radio frequency identification), CSS (chirp spread spectrum), UWB (ultra-wideband), etc. The working principles of the above wireless positioning technologies are similar: multiple (3 or more) base stations are installed at fixed locations indoors (different systems have different names, such as reference points, anchors, routers, card readers, etc., hereinafter collectively referred to as base stations), and the coordinate positions of each base station in the room are recorded. Positioning tags (such as RFID cards, mobile phones, UWB tags, etc., hereinafter collectively referred to as tags) are worn by the objects to be positioned (such as robots, drones, indoor personnel).

[0003] Before using the positioning system, the coordinates of each base station need to be written into the memory of the position calculation module as configuration information. The position calculation module refers to a functional module that calculates the coordinates of the measured object (tag) through a positioning algorithm. This module can be a base station, a tag, or other equipment. The two necessary conditions for position calculation are: 1) the coordinates of each base station; 2) the distance from the tag to each base station. After the positioning system is started, the tag and each base station are measured through wireless signals to measure the distance from the tag to each base station. The position calculation module uses the previously recorded and configured base station coordinates and geometric calculations (such as triangulation) to obtain the coordinates of the tag's location.

[0004] According to the traditional method, each time a new indoor positioning system is deployed, the following process must be repeated: 1) Preliminary selection of a suitable base station installation location indoors; 2) Power supply line modification to provide continuous power supply for the base station; 3) Building structure modification: drilling holes in walls, ceilings, etc., installing base station brackets, and fixing base stations; 4) Base station coordinate measurement: The distance between each base station can be measured by equipment such as a tape measure and a laser rangefinder, and then the coordinates of each base station can be obtained through geometric calculations; 5) The base station coordinate information is configured in the position calculation module; 6) The positioning system starts running.

[0005] The above process has the following disadvantages:

[0006] 1) It involves laying power lines, remodeling the internal structures of buildings, etc., which places high professional requirements on construction personnel, increasing the installation cost and implementation difficulty of the system; 2) Since the base station location coordinates are generally obtained through manual measurement, measurement errors are inevitable in the measurement process, reducing the overall accuracy of the positioning system.

[0007] Therefore, how to make the indoor wireless positioning system easy to deploy becomes a technical problem that needs to be solved urgently. Summary of the invention

[0008] The main problem solved by this application is to provide an indoor wireless positioning device to solve the technical problems that the internal structure and circuit of the building need to be modified when installing the indoor wireless positioning system, the construction is complicated, and the positioning accuracy is poor.

[0009] In order to solve the above technical problems, the present invention provides an indoor wireless positioning device, including: a base, a pole, a base station fixing box, a power line, and a plurality of upper arms and base stations, wherein:

[0010] The upright pole is installed on the base;

[0011] A plurality of upper arms are respectively connected to the vertical poles;

[0012] The base station is located in the base station fixing box and is used to communicate with the tag to be located;

[0013] The base station fixing box is arranged on the upper arm, and is used to keep the relative position of the corresponding base station in each indoor wireless positioning device base station fixing box unchanged; the power line is divided into multiple paths at the junction of the vertical pole and the upper arm, and the number of branches is the same as the number of upper arms.

[0014] Preferably, the upright pole and the upper arm are hollow structures;

[0015] There is a power cord inlet at the junction of the pole and the base, and a multi-channel interface at the junction of the hollow pole and the upper arm.

[0016] The power line is connected from the power line inlet through the pole, the multi-channel interface, and the upper arm to the base station in the base station fixing box.

[0017] Preferably, the number of upper arms is 4, and the center line connecting the base station fixing boxes on the upper arms is a square.

[0018] Preferably, the upright pole is a telescopic upright pole.

[0019] Preferably, the upper arm is foldable and the base is a foldable base.

[0020] The present application also provides an indoor wireless positioning method, which is applied to the above-mentioned indoor wireless positioning device, and the method includes:

[0021] Obtain the initial coordinate position of each base station of the indoor wireless positioning device and the initial coordinate position (x 0 ,y 0 );

[0022] Get the movement vector (d x , d y );

[0023] According to the obtained initial coordinate position (x 0 ,y 0 , z 0 ) and the obtained motion vector (d x , d y ) obtain the coordinate position (x, y) of the tag to be tested.

[0024] Preferably, the coordinate position (x, y) of the tag to be tested is (x 0 -d x ,y 0 -d y ).

[0025] Preferably, the tag to be tested is at the initial coordinate position (x 0 ,y 0 ) is obtained as follows:

[0026] Obtaining the initial coordinate positions of each base station of the indoor wireless positioning device;

[0027] Obtain the distance between the tag to be tested and the coordinate position of each base station;

[0028] The initial coordinate position (x) of the tag to be tested is obtained according to the initial coordinate position of each base station and the distance from the tag to be tested to the initial coordinate position of each base station. 0 ,y 0 ).

[0029] Preferably, the initial coordinate position (x 0 ,y 0 ) is obtained by trilateration.

[0030] Preferably, the initial coordinate position of each base station is obtained by measuring the distance between the base stations using a measuring device and performing geometric calculations.

[0031] Compared with the prior art, the indoor wireless positioning device of the present application achieves the following effects:

[0032] The indoor wireless positioning device provided by the present invention installs the base station on a portable foldable bracket. When in use, the bracket only needs to be opened, placed indoors and powered to realize the indoor positioning of the tag. The indoor wireless positioning system base station can be quickly installed to achieve the purpose of quickly deploying the indoor wireless positioning system. No complicated construction is required, and the base station installation wiring, fixation, measurement, configuration and other processes are avoided.

[0033] The indoor wireless positioning method provided by the present invention, after configuring the initial coordinate position, each time a new system is deployed, only the coordinate position of the base station of the new system relative to the moving vector of the initial coordinate position needs to be configured in the system to obtain the position of the tag to be measured. Moreover, the indoor wireless positioning device provided by the embodiment of the present application makes it easy to install each base station, and the relative position measurement is accurate and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the structure of an indoor wireless positioning device proposed in an embodiment of the present application;

[0036] Figure 2 The initial coordinate position of the base station and the initial coordinate position diagram of the tag to be measured in the embodiment of the present application using the indoor wireless positioning device of the present application;

[0037] Figure 3 This is a diagram of the coordinate positions of the base station and the tags to be tested installed in the embodiment of the present application. DETAILED DESCRIPTION

[0038] In view of the problems mentioned in the background technology of this application, the following problems will exist every time a new indoor wireless positioning system is deployed: 1) It involves the laying of power supply lines, the modification of the internal structure of the building, etc., which requires high professional skills of the construction personnel, increases the installation cost and implementation difficulty of the system; 2) Since the base station location coordinates are generally obtained through manual measurement, measurement errors are inevitable in the measurement process, reducing the overall accuracy of the positioning system.

[0039] The present application proposes an indoor wireless positioning device and method, which limits the position of each base station by installing a base station in a base station fixing box of the indoor wireless positioning device, thereby completing the deployment of the indoor wireless positioning system without modifying the internal structure and circuit of the building.

[0040] It is inconvenient to use the indoor wireless positioning device provided by the present application to deploy the relative positions of the corresponding base stations of each indoor wireless positioning system. After setting the initial coordinates of each base station, there is no need to obtain the base station position coordinates during measurement calculations every time a new indoor wireless positioning system is deployed. It is only necessary to know the movement vector of the base station of each indoor wireless positioning system relative to the initial coordinates, and the coordinate position of the tag to be measured can be obtained through simple calculations.

[0041] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] like Figure 1 The figure is a schematic diagram of the structure of an indoor wireless positioning device proposed in an embodiment of the present application. The optical module proposed in the present application is described in detail below through the above drawings.

[0043] An indoor wireless positioning device proposed in an embodiment of the present application includes: a base 4, a pole 3, a base station fixing box 2, a power line 5, and a plurality of upper arms 1 and a base station (not shown in the figure), wherein:

[0044] The vertical rod 3 is installed on the base 4;

[0045] The plurality of upper arms 1 are respectively connected to the upright poles 3;

[0046] The base station is located in the base station fixing box 2 and is used to communicate with the tag to be located (not shown in the figure); the tag to be measured (such as an RFID card, a mobile phone, a UWB tag, etc.) is worn by the object to be located (such as a robot, a drone, an indoor person);

[0047] The base station fixing box 2 is arranged on the upper arm 1, and is used to keep the relative position of the corresponding base station in each indoor wireless positioning device base station fixing box 2 unchanged;

[0048] The power line 5 is divided into multiple paths at the junction of the upright pole 3 and the upper arm 1, and the number of the paths is the same as the number of the upper arms.

[0049] In a specific application scenario, the upright pole 3 and the upper arm 1 may be designed as a hollow structure;

[0050] A power line inlet is provided at the junction of the upright pole 3 and the base 4, and a multi-channel interface is provided at the junction of the upright pole 3 and the upper arm 1.

[0051] The power line is connected from the power line inlet through the pole, the multi-channel interface, and the upper arm to the base station in the base station fixing box.

[0052] The above-mentioned pole can be designed as a telescopic pole, which can achieve height adjustment to adjust the position of the base station installed in the base station fixing box to make it operate better.

[0053] In a specific application scenario, the number of upper arms 1 of the indoor wireless positioning device is preferably 4, and the center line connecting the base station fixing boxes 2 on the upper arms 1 is a square.

[0054] Preferably, the upper arm 1 of the device is designed as a foldable upper arm, and the base 4 is designed as a foldable base. This not only makes the device easy to move, but also assists in adjusting the position of the base station.

[0055] Preferably, the power line 5 is provided with a main power supply connector 6 at the end connected to the power supply, and a base station power supply connector is provided at the end connected to the base station.

[0056] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0057] The indoor wireless positioning device provided in the above embodiment has a portable foldable bracket installed on the base station. When in use, you only need to open the bracket, place it indoors and power it, so as to realize the indoor positioning of the tag, and can realize the rapid installation of the base station of the indoor wireless positioning system, thereby achieving the purpose of rapid deployment of the indoor wireless positioning system. No complicated construction is required, and the processes of base station installation wiring, fixing, measuring, and configuration are avoided.

[0058] like Figure 2 The figure shows the initial coordinate position of the base station of the indoor wireless positioning device and the initial coordinate position of the tag to be measured in the embodiment of the present application; Figure 3 The coordinates of the installed base station and the tags to be tested are shown in Figure 1. The triangle in the figure is the base station and the circle is the tag to be tested.

[0059] The present application embodiment provides an indoor wireless positioning method, which is applied to the indoor wireless positioning device described in the above embodiment. The method includes:

[0060] Get Figure 2 The initial coordinate positions of the base stations of the indoor wireless positioning device and the initial coordinate positions (x 0 ,y 0 );

[0061] When the installation location of each base station is Figure 3 When the position shown in Figure 2 The base stations in the Figure 3 Position, after obtaining the movement vector (d x , d y ) can be used to obtain the tag to be tested at the initial coordinate position (x 0 ,y 0 ) and the obtained motion vector (d x , d y ) obtain the coordinate position (x, y) of the tag to be tested.

[0062] In a specific application scenario, if the tag to be tested is at the initial coordinate position (x 0 ,y 0 ) and the movement vector (d x, d y ), then the coordinate position (x, y) of the tag to be tested is (x 0 -d x ,y 0 -d y ).

[0063] In a specific application scenario, the tag to be tested is at the initial coordinate position (x 0 ,y 0 ) is obtained as follows:

[0064] The initial coordinate position of each base station of the indoor wireless positioning device is obtained; the initial coordinate position can be a set position, or the distance between each base station can be measured by a tape measure, laser rangefinder or other equipment, and then the coordinates of each base station are obtained by geometric calculation.

[0065] Obtain the distance between the tag to be tested and the coordinate position of each base station; usually the distance between the tag to be tested and the base station is measured through wireless signals.

[0066] After obtaining the initial coordinate position of each base station and the distance from the tag to be tested to the initial coordinate position of each base station, the initial coordinate position (x 0 ,y 0 ).

[0067] The preferred initial coordinate position or geometric calculation is performed using the triangulation method.

[0068] Compared with the prior art, the beneficial technical effects of the technical solution proposed in the embodiment of the present application include:

[0069] The indoor wireless positioning method provided by the embodiment of the present application, after configuring the initial coordinate position, each time a new system is deployed, it is only necessary to configure the coordinate position of the base station of the new system relative to the moving vector of the initial coordinate position into the system to obtain the position of the tag to be measured. This overcomes the problem that when a traditional indoor wireless positioning system is deployed, each time a new system is deployed, the coordinate information of each base station needs to be configured in the new system, which is a cumbersome process, and the coordinate position of the base station is mostly measured manually, resulting in reduced system positioning accuracy.

[0070] Moreover, the indoor wireless positioning device provided in the embodiment of the present application makes installation of each base station easy, and the measurement of relative position is accurate and convenient. Therefore, the indoor wireless positioning method in the embodiment of the present application is accurate in positioning and easy to implement.

[0071] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different nouns to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. As mentioned throughout the specification and claims, "including" is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application, and is not used to limit the scope of the present application. The scope of protection of the present application shall be determined by the attached claims.

[0072] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. An indoor wireless positioning device, characterized in that: include: A base (4), a vertical pole (3), a base station fixing box (2), a power line (5), and a plurality of upper arms (1) and a base station, wherein: The vertical rod (3) is installed on the base (4); The plurality of upper arms (1) are respectively connected to the vertical poles (3); The base station is located in the base station fixing box (2) and is used to communicate with the tag to be located; The base station fixing box (2) is arranged on the upper arm (1) and is used to keep the relative position of the corresponding base station in each indoor wireless positioning device base station fixing box unchanged; The power line (5) is divided into multiple paths at the junction of the upright pole (3) and the upper arm (1), and the number of the paths is the same as the number of the upper arms; The upright pole (3) and the upper arm (1) are hollow structures; A power line inlet is provided at the junction of the upright pole (3) and the base (4), and a multi-channel interface is provided at the junction of the upright pole (3) and the upper arm (1). The power line (5) is connected from the power line inlet through the vertical pole (3), the multi-channel interface, and the upper arm (1) to the base station in the base station fixing box (2); The number of the upper arms (1) is 4, and the center line connecting the base station fixing boxes (2) on the upper arms (1) is a square; The vertical pole (3) is a telescopic vertical pole.

2. The indoor wireless positioning device according to claim 1, characterized in that: The upper arm (1) is a foldable upper arm, and the base (4) is a foldable base.

3. An indoor wireless positioning method, characterized in that: The method is applied to the indoor wireless positioning device according to claim 1 or 2, and the method comprises: Obtain the initial coordinate position of each base station of the indoor wireless positioning device and the initial coordinate position (x0, y0) of the tag to be tested; obtain the movement vector (d x , d y ); According to the obtained initial coordinate position (x0, y0) of the tag to be tested and the obtained movement vector (d x , d y ) obtains the coordinate position (x, y) of the tag to be tested.

4. The indoor wireless positioning method according to claim 3, characterized in that: The coordinate position (x, y) of the tag to be tested is (x0-d x ,y0-d y ).

5. The indoor wireless positioning method according to claim 3, characterized in that: The method for obtaining the initial coordinate position (x0, y0) of the tag to be tested is: Obtain the initial coordinate position of each base station of the indoor wireless positioning device; obtain the distance from the tag to be tested to the coordinate position of each base station; The initial coordinate position (x0, y0) of the tag to be tested is obtained according to the initial coordinate position of each base station and the distance from the tag to be tested to the initial coordinate position of each base station.

6. The indoor wireless positioning method according to claim 5, characterized in that: The initial coordinate position (x0, y0) of the tag to be tested is obtained by a three-sided positioning method.

7. The indoor wireless positioning method according to claim 3, characterized in that: The initial coordinate positions of the base stations are obtained by measuring the distances between the base stations using a measuring device and by geometric calculation.

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