Ultra-wideband adaptive base station, positioning system and positioning method thereof

Abstract

The present invention discloses an ultra-wideband adaptive base station, a positioning system and a positioning method thereof. Through the interface of the robot operating system, the position update of the base station is realized, so that the calibration process of the normal system can be exceeded, and the deployment is flexible. All base stations and tags are connected to the power supply and powered on. At this time, the interface of the mother base station is entered through the super terminal, and the interface of the computer connected to the tag is also entered. First, the main process of the tag is started, the information sharing channel of the ultra-wideband system is established, the command of the mother base station is started, and the information sharing of the tag process is added. At the same time, the coordinates of the base station are calculated and updated every ten seconds. The tag receives the updated coordinates of the mother base station and calculates the tag coordinates based on the new base station coordinates. The present invention solves the problem that the premise of the tag getting the positioning is generally to use the coordinate position preset by the base station for calculation, the calculation is complicated, and the power supply of the tag and the base station cannot be designed in an integrated manner.

Description

Technical Field

[0001] The present invention relates to the technical field of base station positioning, and in particular to an ultra-wideband adaptive base station, a positioning system and a positioning method thereof. Background Art

[0002] The current ultra-wideband positioning system uses time-of-flight technology to measure the distance of the tag, and then calculates the coordinates based on the triangulation positioning algorithm. The coordinate system is generally defined by the relative position of the algorithm positioning base station. The premise for the tag to be positioned is generally to use the coordinate position preset by the base station for calculation. The calculation is complex, and the power supply of the tag and the base station cannot be integrated. For this reason, we have designed an ultra-wideband adaptive base station, positioning system and positioning method. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides an ultra-wideband adaptive base station, a positioning system and a positioning method thereof, which solve the problem that the premise for the tag to be positioned is generally to use the coordinate position preset by the base station for calculation, the calculation is complicated, and the power supply of the tag and the base station cannot be integrated.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] An ultra-wideband adaptive base station, comprising a mother base station and a plurality of sub-base stations, wherein the mother base station and the plurality of sub-base stations are connected wirelessly, wherein the mother base station comprises a left shell and a right shell, wherein the left shell and the right shell are fastened and connected by a first fastening bolt, a second fastening bolt and a connection socket are installed on the top of the left shell, a first signal connection column is installed on the top of the right shell, a first adjustable connection piece is movably connected to the top of the first signal connection column, and a signal board is installed on the right side of the first adjustable connection piece;

[0006] The sub-base station includes an installation shell and a fixed shell, the four right corners of the fixed shell are fastened with third fastening bolts, the installation shell and the fixed shell are fastened and connected by the third fastening bolts, a second signal connecting column is installed on the top of the installation shell, the top of the second signal connecting column is movably connected with a second adjustable connecting piece, a signal board is installed on the right side of the second adjustable connecting piece, and a clamping plate is installed on the right side of the fixed shell.

[0007] In the aforementioned ultra-wideband adaptive base station, the inner cavity of the sub-base station is connected with a signal connection line, and the signal connection line passes through the lower end side wall of the installation shell.

[0008] In the aforementioned ultra-wideband adaptive base station, the clamping plate and the fixed housing are integrally formed.

[0009] In the aforementioned ultra-wideband adaptive base station, the card-connecting plate is in an arc shape.

[0010] The aforementioned ultra-wideband adaptive base station positioning system comprises: a mother base station, multiple sub-base stations, a tag, and a mobile power supply. The mother base station comprises an ultra-wideband module, a processor module and a housing. The tag and the mobile power supply are embedded in the inner cavity of the mother base station and the sub-base station. The tag and the mobile power supply provide positioning and power supply for the wireless connection between the sub-base station and the mother base station.

[0011] The aforementioned positioning method of an ultra-wideband adaptive base station positioning system includes a standard positioning mode and a dual base station positioning mode. The standard positioning mode includes the following steps:

[0012] Step (A1), all the mother base stations, sub-base stations and tags are powered on. If they are in the positioning state, the ultra-wideband modules of the tags and mother base stations will flash red lights;

[0013] Step (B1), after the red light flashes in step (A1), enter the interface of the mother base station through the hyperterminal, and also enter the interface of the computer connected to the tag;

[0014] Step (C1), after entering the interface of the computer connected to the tag, start the main process of the tag, establish the information sharing channel of the ultra-wideband system, start the command of the mother base station, join the information sharing of the tag process, and calculate and update the coordinates of the mother base station every ten seconds;

[0015] Step (D1), after the tag receives the updated coordinates of the mother base station, the tag coordinates are calculated based on the coordinates of the child base station.

[0016] In the aforementioned positioning method of an ultra-wideband adaptive base station positioning system, in the step (C1), if the calculation and update of the coordinates of the mother base station every ten seconds fails, it will return to the previous level to re-join the information sharing of the tag process until the update is successful and the real-time coordinates of the child base station are obtained.

[0017] In the aforementioned positioning method of an ultra-wideband adaptive base station positioning system, in the step (C1), if the coordinates of the mother base station are calculated and updated every ten seconds, it will return to the previous level to re-join the information sharing of the tag process until the update is successful.

[0018] In the aforementioned ultra-wideband adaptive base station positioning system, the dual base station positioning mode comprises the following steps:

[0019] Step (A2), setting the coordinates of the mother base station, the sub-base station and the UAV to be A0, A1 and UAV respectively, setting the measurement distance between the sub-base station and the mother base station to be D, the measurement distance between the sub-base station on the UAV and the mother base station to be d1, and the measurement distance between the sub-base station on the UAV and the sub-base station to be d2;

[0020] Step (B2), the angle between the drone and the mother base station at the determined position is calculated by the formula:

[0021]

[0022] Step (C2), then calculate the coordinates of the UAV

[0023]

[0024] y=d1sinα

[0025] Get the coordinates of the drone UAV (x, y).

[0026] The beneficial effects of the present invention are as follows: through the standard positioning mode, the real-time update of the positions of the sub-base station and the mother base station is realized, so that the calibration process of the normal system can be exceeded and the deployment is flexible. All base stations and tags are powered on. If in the positioning state, the ultra-wideband modules of the tags and the mother base station will flash red lights. At this time, the interface of the mother base station is entered through the super terminal, and the interface of the computer connected to the tag must also be entered. First, the main process of the tag is started, the information sharing channel of the ultra-wideband system is established, the command of the mother base station is started, and the information sharing of the tag process is added. At the same time, the coordinates of the mother base station are calculated and updated every ten seconds. The tag receives the updated coordinates of the mother base station and calculates the tag coordinates based on the coordinates of the sub-base station. Positioning is performed through the dual-base station positioning mode, and the positioning is simple and more accurate. The error is further reduced. The tag module has a small weight and can be installed on platform hardware with high weight requirements such as drones, including the position of a mobile power supply. The module is very small as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a mother base station;

[0028] Figure 2 is a three-dimensional diagram of a sub-base station;

[0029] Figure 3 This is a standard positioning mode positioning flow chart of the present invention;

[0030] Figure 4 This is a positioning diagram of the dual base station positioning mode of the present invention.

[0031] In the figure: 1, mother base station, 101, left shell, 102, right shell, 3, first fastening bolt, 4, second fastening bolt, 5, connecting socket, 6, first signal connecting column, 7, first adjustable connecting piece, 8, signal board, 9, sub base station, 901, installation shell, 902, fixed shell, 10, signal connecting line, 11, second signal connecting column, 12, second adjustable connecting piece, 13, second signal board, 14, third fastening bolt, 15, clamping plate. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-4 : An ultra-wideband adaptive base station, including a mother base station 1 and multiple sub-base stations 9, the mother base station 1 and the multiple sub-base stations 9 are connected wirelessly, the mother base station 1 includes a left shell 101 and a right shell 102, the left shell 101 and the right shell 102 are fastened and connected by a first fastening bolt 3, the top of the left shell 101 is installed with a second fastening bolt 4 and a connecting socket 5, the top of the right shell 102 is installed with a first signal connecting column 6, the top of the first signal connecting column 6 is movably connected with a first adjustable connecting piece 7, and the right side of the first adjustable connecting piece 7 is installed The first signal board 8, the sub-base station 9 includes an installation shell 901 and a fixed shell 902, the four right corners of the fixed shell 902 are fastened with third fastening bolts 14, the installation shell 901 and the fixed shell 902 are fastened and connected by the third fastening bolts 14, a second signal connection column 11 is installed on the top of the installation shell 901, the top of the second signal connection column 11 is movably connected with a second adjustable connecting piece 12, a second signal board 13 is installed on the right side of the second adjustable connecting piece 12, and a clamping plate 15 is installed on the right side of the fixed shell 902.

[0034] Preferably, the inner cavity of the sub-base station 9 is connected with a signal connection line 10, and the signal connection line 10 passes through the lower side wall of the installation shell 901, so as to facilitate the connection between the sub-base station and the mother base station.

[0035] Preferably, the clamping plate 15 and the fixed shell 902 are integrally formed to increase the overall strength of the clamping plate 15 .

[0036] Preferably, the clamping plate 15 is arc-shaped, so that the sub-base station can be connected and fixed to an external installation device by using the clamping plate.

[0037] Preferably, the positioning system includes: a mother base station, multiple sub-base stations, a tag, and a mobile power supply. The mother base station includes an ultra-wideband module, a processor module and a housing. The tag and the mobile power supply are embedded in the inner cavity of the mother base station and the sub-base station. The tag and the mobile power supply provide positioning and power supply for the wireless connection between the sub-base station and the mother base station.

[0038] Preferably, the positioning method includes a standard positioning mode and a dual base station positioning mode, and the standard positioning mode includes the following steps:

[0039] Step (A1), all the mother base stations, sub-base stations and tags are powered on. If they are in the positioning state, the ultra-wideband modules of the tags and mother base stations will flash red lights;

[0040] Step (B1), after the red light flashes in step (A1), enter the interface of the mother base station through the hyperterminal, and also enter the interface of the computer connected to the tag;

[0041] Step (C1), after entering the interface of the computer connected to the tag, start the main process of the tag, establish the information sharing channel of the ultra-wideband system, start the command of the mother base station, join the information sharing of the tag process, and calculate and update the coordinates of the mother base station every ten seconds;

[0042] Step (D1), after the tag receives the updated coordinates of the mother base station, the tag coordinates are calculated based on the coordinates of the child base station.

[0043] Preferably, in the step (C1), if the calculation and update of the coordinates of the mother base station every ten seconds fails, it will return to the previous level to re-join the information sharing of the tag process until the update is successful and the real-time coordinates of the child base station are obtained.

[0044] Preferably, the dual base station positioning mode includes the following steps:

[0045] Step (A2), setting the coordinates of the mother base station, the sub-base station and the UAV to be A0, A1 and UAV respectively, setting the measurement distance between the sub-base station and the mother base station to be D, the measurement distance between the sub-base station on the UAV and the mother base station to be d1, and the measurement distance between the sub-base station on the UAV and the sub-base station to be d2;

[0046] Step (B2), the angle between the drone and the mother base station at the determined position is calculated by the formula:

[0047]

[0048] Step (C2), then calculate the coordinates of the UAV

[0049]

[0050] y=d1sinα

[0051] Get the coordinates of the drone UAV (x, y).

[0052] In summary, when the present invention is used, first, the standard positioning mode is used to realize the real-time update of the positions of the sub-base station and the mother base station, so that the calibration process of the normal system can be exceeded, and the deployment is flexible. All base stations and tags are powered on. If they are in the positioning state, the ultra-wideband module of the tag and the mother base station will flash red lights. At this time, the interface of the mother base station is entered through the super terminal, and the interface of the computer connected to the tag is also entered. First, the main process of the tag is started, the information sharing channel of the ultra-wideband system is established, the command of the mother base station is started, and the information sharing of the tag process is added. At the same time, the coordinates of the mother base station are calculated and updated every ten seconds. The tag receives the updated coordinates of the mother base station and calculates the tag coordinates based on the coordinates of the sub-base station. The dual-base station positioning mode can also be used to calculate the positioning coordinates of the drone through the determined coordinates of the sub-base station and the mother base station. The calculation error is small and the positioning is accurate. The weight of the tag module is small and can be installed on platform hardware with high weight requirements such as drones, including the position of the mobile power supply. The module is very small as a whole, which solves the problem that the premise of the tag getting the positioning is generally to use the coordinate position preset by the base station for calculation, the calculation is complicated, and the power supply of the tag and the base station cannot be integrated.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultra-wideband adaptive base station, comprising a mother base station (1) and a plurality of sub-base stations (9), characterized in that: The mother base station (1) and the plurality of sub-base stations (9) are connected wirelessly, the mother base station (1) comprising a left housing (101) and a right housing (102), the left housing (101) and the right housing (102) being fastened and connected by a first fastening bolt (3), a second fastening bolt (4) and a connection socket (5) being installed on the top of the left housing (101), a first signal connection column (6) being installed on the top of the right housing (102), a first adjustable connection piece (7) being movably connected to the top of the first signal connection column (6), and a first signal board (8) being installed on the right side of the first adjustable connection piece (7); The sub-base station (9) comprises an installation shell (901) and a fixed shell (902), the four right corners of the fixed shell (902) are fastened with third fastening bolts (14), the installation shell (901) and the fixed shell (902) are fastened and connected by the third fastening bolts (14), a second signal connection column (11) is installed on the top of the installation shell (901), a second adjustable connection piece (12) is movably connected to the top of the second signal connection column (11), a second signal board (13) is installed on the right side of the second adjustable connection piece (12), and a clamping plate (15) is installed on the right side of the fixed shell (902); The inner cavity of the sub-base station (9) is connected to a signal connection line (10), and the signal connection line (10) passes through the lower side wall of the installation shell (901); Wherein, the clamping plate (15) and the fixed housing (902) are integrally formed; Wherein, the clamping plate (15) is in an arc shape; The positioning system of the ultra-wideband adaptive base station includes: a mother base station, multiple sub-base stations, a tag, and a mobile power supply. The mother base station includes an ultra-wideband module, a processor module and a housing. The tag and the mobile power supply are embedded and installed in the inner cavity of the mother base station and the sub-base station. The tag and the mobile power supply provide positioning and power supply for the wireless connection between the sub-base station and the mother base station; The positioning method includes a standard positioning mode and a dual base station positioning mode. The standard positioning mode includes the following steps: Step (A1), all the mother base stations, sub-base stations and tags are powered on. If they are in the positioning state, the ultra-wideband modules of the tags and mother base stations will flash red lights; Step (B1), after the red light flashes in step (A1), enter the interface of the mother base station through the hyperterminal, and also enter the interface of the computer connected to the tag; Step (C1), after entering the interface of the computer connected to the tag, start the main process of the tag, establish the information sharing channel of the ultra-wideband system, start the command of the mother base station, join the information sharing of the tag process, and calculate and update the coordinates of the mother base station every ten seconds; Step (D1), after the tag receives the updated coordinates of the mother base station, the tag coordinates are calculated based on the coordinates of the child base station; In the positioning method of the positioning system of the ultra-wideband adaptive base station, if the coordinates of the mother base station are calculated and updated every ten seconds, the step (C1) returns to the previous level to re-share the information of the tag process until the update is successful and the real-time coordinates of the child base station are obtained; The dual base station positioning mode includes the following steps: Step (A2), setting the coordinates of the mother base station, the sub-base station and the UAV to be A0, A1 and UAV respectively, setting the measurement distance between the sub-base station and the mother base station to be D, the measurement distance between the sub-base station on the UAV and the mother base station to be d1, and the measurement distance between the sub-base station on the UAV and the sub-base station to be d2; Step (B2), the angle between the drone and the mother base station at the determined position is calculated by the formula: Step (C2), then calculate the coordinates of the UAV y=d1sinα Get the coordinates of the drone UAV (x, y).

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