Method and device for testing an indoor positioning system using lidar

Abstract

The present invention discloses a method and device for testing an indoor positioning system using lidar. The device includes: a test controller and multiple lidars; wherein, the multiple lidars are deployed within the test site to ensure that each measured tag within the site can be covered by three or more lidars; the multiple lidars are used for: obtaining the true position information of the measured tags on the measured indoor positioning system deployed within the test site; the test controller is used for: obtaining the true position information from the multiple lidars, obtaining the measured position information of the corresponding measured tags from the measured indoor positioning system, comparing based on the true position information and the measured position information, and determining the relevant performance of the indoor positioning system according to the comparison result. The present invention can directly and real-time obtain the true position information of the measured tags, and there is no need to use the previously measured position points to perform positioning tests in actual work, greatly improving the test adaptability of the site.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor positioning, and in particular, to a method and device for testing an indoor positioning system using a lidar. Background Art

[0002] This section aims to provide background or context for the embodiments of the present invention stated in the claims. The descriptions herein are not admitted to be prior art merely because they are included in this section.

[0003] With the continuous development of the application of mobile communication in various industries, the importance of device location information has become increasingly prominent. In the case where satellite positioning technology cannot be used indoors, using radio technology for indoor positioning has become a trend. From museums, stores to warehousing and logistics, the demand for indoor positioning in various industries is continuously increasing, and related technologies, standards, algorithms, products, and systems are emerging continuously. Different positioning systems (such as UWB, BLE, WiFi, etc.) and different positioning principles (such as ToF, AoA, AoD, etc.) have differences in indicators such as cost, system complexity, accuracy, and speed. In order to objectively evaluate the indicator performance of different products and systems in all dimensions of indoor positioning, corresponding test systems and test methods are required.

[0004] At present, the main test method for indoor positioning systems is to preset several characteristic test points indoors in the test environment and place the tags (objects to be located) of the system under test at the preset test positions for testing. The test system reads the position of the tag from the system under test and compares it with the preset coordinates to obtain information such as positioning accuracy. This method has the following disadvantages: (1) It belongs to "offline" measurement, with a low test speed and poor test traversability: for each preset test point, it is necessary to manually measure its absolute position as a standard. The test mode is relatively fixed, and the traversability of the test process is poor. (2) It is difficult to respond to the motion state: since there is only the position information of fixed points and the position of moving tags cannot be obtained in real time, in dynamic test items, such as tests for the ability to locate moving targets and positioning latency, the existing technology is not applicable. Summary of the Invention

[0005] An embodiment of the present invention provides a device for testing an indoor positioning system using a lidar to improve the test adaptability of the site. The device includes: a test controller and multiple lidars; wherein, the multiple lidars are deployed in the test site to ensure that each test point in the site can be covered by three or more lidars;

[0006] The multiple lidars are used to: obtain the real position information of the tags under test on the indoor positioning system under test deployed in the test site;

[0007] The test controller is configured to: obtain the true position information from the multiple lidars, acquire the measured position information of the corresponding measured tag from the indoor positioning system under test, compare based on the true position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result.

[0008] An embodiment of the present invention further provides a method for testing an indoor positioning system using lidars to improve the test adaptability of the site. The method includes:

[0009] Multiple lidars acquire the true position information of the measured tags on the indoor positioning system under test deployed in the test site;

[0010] The test controller obtains the true position information from the multiple lidars, acquires the measured position information of the corresponding measured tag from the indoor positioning system under test, compares based on the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result;

[0011] Among them, multiple lidars are deployed in the test site to ensure that each test point in the site can be covered by three or more lidars; the multiple lidars are connected to the test controller.

[0012] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above method for testing an indoor positioning system using lidars is implemented.

[0013] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program for executing the above method for testing an indoor positioning system using lidars.

[0014] In an embodiment of the present invention, a plurality of lidars obtain the true position information of the measured tags on the measured indoor positioning system deployed in the test site; the test controller obtains the true position information from the plurality of lidars, obtains the measured position information of the corresponding measured tags from the measured indoor positioning system, compares based on the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result; wherein, the plurality of lidars are deployed in the test site to ensure that each measured tag in the site can be covered by three or more lidars. Compared with the prior art technical solution of placing measured tags at preset test points, the measured tags of the present invention can be at any position in the test site, and the distances from at least three lidars can be obtained via the lidar system, so as to calculate and obtain its specific position in the test site. In the test, the true position information of the measured tags can be directly obtained in real time, and there is no need to use the previously measured position points to perform positioning tests in actual work, which will greatly improve the test adaptability of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0016] Figure 1 It is a schematic layout diagram of the device for testing the indoor positioning system using lidar in the site in an embodiment of the present invention;

[0017] Figure 2 It is a schematic diagram of the device (also including the measured indoor positioning system) for testing the indoor positioning system using lidar in the site in an embodiment of the present invention;

[0018] Figure 3 It is a physical connection and data flow diagram of the device for testing the indoor positioning system using lidar in an embodiment of the present invention;

[0019] Figure 4 It is a method flow chart for testing the indoor positioning system using lidar in an embodiment of the present invention;

[0020] Figure 5 It is a data processing flow chart in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clearly understood, the following further describes in detail the embodiments of the present invention with reference to the accompanying drawings. Herein, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

[0022] Figure 1 As shown in the layout diagram of the device for testing an indoor positioning system using lidar in a site in the embodiments of the present invention, Figure 1 the device includes: a test controller ( Figure 1 not shown in the figure) and multiple lidars;

[0023] The multiple lidars are used to: obtain the true position information of the measured tags on the measured indoor positioning system deployed in the test site;

[0024] The test controller is used to: obtain the true position information from the multiple lidars, obtain the measured position information of the corresponding measured tags from the measured indoor positioning system, compare based on the true position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result.

[0025] A lidar is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting a laser beam. Its working principle is as follows: emit a detection signal (laser beam) to the target, then compare the received signal (target echo) reflected from the target with the emitted signal, and after appropriate processing, relevant information about the target can be obtained, such as parameters of the target distance, azimuth, altitude, speed, attitude, and even shape, so as to detect, track, and identify the target.

[0026] In the embodiments of the present invention, the test controller is a device that can read the positioning results of the lidar and the measured indoor positioning system respectively, usually a PC, or other processors with similar functions.

[0027] During use, the lidars are deployed in the test site to ensure that each test point in the site can be covered by three or more lidars. The lidars are connected to the test controller, and the test controller can obtain the distance information in all directions within its field of view captured by the lidars (which is the image of all the lidars obtained). Therefore, for any position of the measured tag in the test site, the distances from the tag to at least three lidars can be known via the lidars, and thus the specific position of the tag in the test site can be calculated.

[0028] In the test of the measured indoor positioning system, by simultaneously obtaining the position of the measured tag through the lidar and the measured indoor positioning system, information such as the accuracy and positioning time of the measured indoor positioning system can be obtained through comparison.

[0029] Specifically, taking the test of an indoor (wireless) positioning system using a test device with four lidars A, B, C, and D in a square unobstructed room as an example, the deployment method of the lidars can be as Figure 1 shown. Since theoretically, as long as the distance information from the measured tag to several fixed points is available, the spatial position of the measured indoor positioning system can be inversely calculated, the deployment positions of the lidars are not fixed, and this is just an example here.

[0030] Taking an indoor positioning system that uses three positioning devices A, B, and C of the system to be measured (i.e., the indoor positioning system to be measured) to locate the measured tag a as an example, after adding the indoor positioning system to be measured, the layout of the test site is as Figure 2 shown, and the test controller is not drawn either.

[0031] Taking the above tests and the configuration of the system to be measured as an example, in actual tests, the connection and data transmission methods of the system are shown in Figure 3 shown. Among them, the positioning devices A, B, and C of the system to be measured and the lidars A, B, C, and D are respectively connected to the test controller. The test controller obtains the positioning results of the positioning system to be measured from the positioning devices A, B, and C of the system to be measured, and obtains the distances from the located tag to each lidar from the lidars A, B, C, and D.

[0032] In the embodiment of the present invention, the measured tags of the indoor positioning system to be measured are deployed at fixed positions within the test site.

[0033] Regarding the technical problem of "(2) Difficulty in responding to the motion state: Since only the position information of the fixed points is available, the position of the moving tag cannot be obtained in real time" existing in the prior art, the measured tags of the indoor positioning system to be measured in the present invention can move within the test site.

[0034] Among them, the layout of the positioning base stations in the indoor positioning system to be measured is based on the layout that can achieve the optimal indicators of the system, and the placement positions / movement trajectories of the measured (positioning) tags are based on the actual test requirements and / or test specifications.

[0035] In the embodiment of the present invention, the measured position information is the measured position coordinates of the measured tag;

[0036] The test controller is specifically used for: determining the true position coordinates of the measured tag on the indoor positioning system to be measured based on the true position information; comparing the measured position coordinates of the measured tag with the true position coordinates of the measured tag, and determining the relevant performance of the indoor positioning system according to the comparison result, where the relevant performance includes positioning error.

[0037] In an embodiment of the present invention, the test controller is specifically configured to: obtain the true position information from the multiple lidars at fixed time intervals, and obtain the measured position information of the corresponding measured tag from the indoor positioning system to be measured at fixed time intervals; compare the true position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result, where the relevant performance includes positioning error and time delay.

[0038] In an embodiment of the present invention, the measured position information is the measured movement trajectory of the measured tag;

[0039] When the indoor positioning system to be measured moves within the test site, the test controller is specifically configured to: determine the true position coordinates of the measured tag on the indoor positioning system to be measured based on the true position information, and draw the true movement trajectory of the measured tag according to the true position coordinates; compare the measured movement trajectory with the true movement trajectory, and determine the relevant performance of the indoor positioning system according to the comparison result.

[0040] An embodiment of the present invention also provides a device for testing an indoor positioning system using lidar, as described in the following embodiments. Since the principle of solving problems by this device is similar to the method for testing an indoor positioning system using lidar, the implementation of this device can refer to the implementation of the method for testing an indoor positioning system using lidar, and the repeated parts will not be described again.

[0041] Figure 4 is a flowchart of a method for testing an indoor positioning system using lidar in an embodiment of the present invention, as Figure 4 shown, this method includes:

[0042] Step 401: Multiple lidars obtain the true position information of the measured tags on the indoor positioning system to be measured deployed in the test site;

[0043] Step 402: The test controller obtains the true position information from the multiple lidars, obtains the measured position information of the corresponding measured tag from the indoor positioning system to be measured, compares the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result.

[0044] In an embodiment of the present invention, before step 401, the following operations need to be performed:

[0045] 1. Deploy lidars at appropriate positions in the test site, and ensure that each spatial position in the test site is within the field of view of at least three lidars.

[0046] 2. Calibrate each lidar used in the test.

[0047] 3. Connect all lidars to the test controller (which may be a PC). At the same time, connect the output of the indoor positioning system under test to the test controller in a reasonable manner.

[0048] 4. Deploy the indoor positioning system under test reasonably in the test site (i.e., place it at the positions required by the test specifications) so that the indoor positioning tags at any position in the test site can be correctly positioned by the deployed system. The positioning information is transmitted to the test controller in a reasonable manner. Or move the indoor positioning system under test in the test site according to the trajectory and speed required by the test specifications.

[0049] 5. Execute steps 401 and 402.

[0050] In the embodiment of the present invention, the measured position information is the measured position coordinates of the tag under test;

[0051] As Figure 5 shown, step 402 includes:

[0052] Based on the true position information, determine the true position coordinates of the tag under test on the indoor positioning system under test (i.e., obtain the position coordinates of the tag through a processing algorithm based on the distances from the tag to lidars A, B,..., n); compare the measured position coordinates (the positioning result of the system under test) of the tag under test with the true position coordinates of the tag under test (i.e., through a processing algorithm), and determine the relevant performance of the indoor positioning system according to the comparison result. The relevant performance includes positioning error.

[0053] In the embodiment of the present invention, step 402 includes:

[0054] As Figure 5 shown, obtain the true position information from the multiple lidars at fixed time intervals, and obtain the measured position information of the corresponding tag under test from the indoor positioning system under test at fixed time intervals; compare the true position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result. The relevant performance includes positioning error and time delay.

[0055] In the embodiment of the present invention, the measured position information is the measured movement trajectory of the tag under test;

[0056] As Figure 5 shown, step 402 includes:

[0057] Based on the true position information, determine the true position coordinates of the tag under test on the indoor positioning system under test, and draw the true movement trajectory of the tag under test according to the true position coordinates; compare the measured movement trajectory with the true movement trajectory, and determine the relevant performance of the indoor positioning system according to the comparison result.

[0058] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method for testing an indoor positioning system using lidar as described above is implemented.

[0059] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing the method for testing an indoor positioning system using lidar as described above.

[0060] In an embodiment of the present invention, multiple lidars obtain the true position information of the measured tags on the measured indoor positioning system deployed in the test site; the test controller obtains the true position information from the multiple lidars, obtains the measured position information of the corresponding measured tags from the measured indoor positioning system, compares based on the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result; wherein, multiple lidars are deployed in the test site to ensure that each measured tag in the site can be covered by three or more lidars. Compared with the prior art technical solution of placing measured tags at preset test points, (1) in the present invention, the measured tags can be at any position in the test site, and the distances from at least three lidars can be obtained via the lidar system, so as to calculate and obtain their specific positions in the test site. In the test, the true position information of the measured tags can be directly obtained in real time, and there is no need to use the previously measured position points to perform positioning tests in actual work, which will greatly improve the test adaptability of the site. (2) It can accurately test moving targets: Traditional indoor positioning tests cannot perform real-time detection on moving targets, so there is a significant lack in the test ability for moving scenarios. Using the present technical solution, the moving position can be restored in real time, the trajectory can be drawn and compared with the measured values when the measured tags are moving, so as to realize the tests of many test items for the system's moving positioning performance.

[0061] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one or more flows and / or one or more blocks in the flow. Figure 1 one or more flows and / or one or more blocks Figure 1 means for implementing the functions specified in one or more flows and / or one or more blocks.

[0063] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one or more flows and / or one or more blocks. Figure 1 one or more flows and / or one or more blocks Figure 1 means for implementing the functions specified in one or more flows and / or one or more blocks.

[0064] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows and / or one or more blocks. Figure 1 one or more flows and / or one or more blocks Figure 1 steps for implementing the functions specified in one or more flows and / or one or more blocks.

[0065] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for testing an indoor positioning system using lidar, characterized in that, Including: A test controller and multiple lidars; wherein, the multiple lidars are deployed within a test site to ensure that each test point within the site can be covered by three or more lidars; The multiple lidars are used to: obtain the real position information of the measured tags on the indoor positioning system to be measured deployed within the test site; The test controller is used to: obtain the real position information from the multiple lidars, obtain the measured position information of the corresponding measured tags from the indoor positioning system to be measured, compare based on the real position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result; the measured tags of the indoor positioning system to be measured are deployed at fixed positions within the test site, or, the measured tags of the indoor positioning system to be measured move within the test site; at any position within the test site, the measured tag knows the distances from at least three lidars, and calculates to obtain the specific position of the measured tag within the test site; The measured position information is the measured position coordinates of the measured tag; The test controller is specifically used to: determine the real position coordinates of the measured tags on the indoor positioning system to be measured based on the real position information; compare the measured position coordinates of the measured tags with the real position coordinates of the measured tags, and determine the relevant performance of the indoor positioning system according to the comparison result, where the relevant performance includes positioning error; The measured position information is the measured movement trajectory of the measured tag; when the measured tags of the indoor positioning system to be measured move within the test site, the test controller is specifically used to: determine the real position coordinates of the measured tags on the indoor positioning system to be measured based on the real position information, and draw the real movement trajectory of the measured tags according to the real position coordinates; compare the measured movement trajectory with the real movement trajectory, and determine the relevant performance of the indoor positioning system according to the comparison result.

2. The device for testing an indoor positioning system using lidar according to claim 1, wherein, The test controller is specifically used to: obtain the real position information from the multiple lidars at fixed time intervals, and obtain the measured position information of the corresponding measured tags from the indoor positioning system to be measured at fixed time intervals; compare based on the real position information and the measured position information, and determine the relevant performance of the indoor positioning system according to the comparison result, where the relevant performance includes positioning error and time delay.

3. A method for testing an indoor positioning system using lidar, characterized in that, Including: Multiple lidars obtain the real position information of the measured tags on the indoor positioning system to be measured deployed within the test site; The test controller obtains the real position information from the multiple lidars, obtains the measured position information of the corresponding measured tags from the indoor positioning system to be measured, compares based on the real position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result; Among them, multiple lidars are deployed in the test site to ensure that each test point in the site can be covered by more than three lidars; the measured tags of the indoor positioning system to be measured are deployed at fixed positions in the test site, or the measured tags of the indoor positioning system to be measured move in the test site; at any position of the measured tag in the test site, the distances between the measured tag and at least three lidars are obtained through the lidars, and the specific position of the measured tag in the test site is calculated and obtained; The measured position information is the measured position coordinates of the measured tag; the test controller compares the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result, including: determining the true position coordinates of the measured tag on the indoor positioning system to be measured based on the true position information; comparing the measured position coordinates of the measured tag with the true position coordinates of the measured tag, and determining the relevant performance of the indoor positioning system according to the comparison result, and the relevant performance includes positioning error; The measured position information is the measured movement trajectory of the measured tag; when the indoor positioning system to be measured moves in the test site, the test controller compares the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result, including: determining the true position coordinates of the measured tag on the indoor positioning system to be measured based on the true position information, and drawing the true movement trajectory of the measured tag according to the true position coordinates; comparing the measured movement trajectory with the true movement trajectory, and determining the relevant performance of the indoor positioning system according to the comparison result.

4. The method for testing an indoor positioning system using lidar according to claim 3, wherein The test controller obtains the true position information from the multiple lidars, obtains the measured position information of the corresponding measured tag from the indoor positioning system to be measured, compares the true position information and the measured position information, and determines the relevant performance of the indoor positioning system according to the comparison result, including: Obtaining the true position information from the multiple lidars at fixed time intervals, and obtaining the measured position information of the corresponding measured tag from the indoor positioning system to be measured at fixed time intervals; comparing the true position information and the measured position information, and determining the relevant performance of the indoor positioning system according to the comparison result, and the relevant performance includes positioning error and time delay.

Images